fix: default servo motion mode to immediate

.config

@@ -10,9 +10,7 @@
 #
 # rt_vsnprintf options
 #
-# CONFIG_RT_KLIBC_USING_LIBC_VSNPRINTF is not set
+CONFIG_RT_KLIBC_USING_LIBC_VSNPRINTF=y
-# CONFIG_RT_KLIBC_USING_VSNPRINTF_LONGLONG is not set
-# CONFIG_RT_KLIBC_USING_VSNPRINTF_STANDARD is not set
 # end of rt_vsnprintf options
 
 #
@@ -172,7 +170,7 @@ CONFIG_RT_USING_HEAP=y
 # end of Memory Management
 
 CONFIG_RT_USING_DEVICE=y
-# CONFIG_RT_USING_DEVICE_OPS is not set
+CONFIG_RT_USING_DEVICE_OPS=y
 # CONFIG_RT_USING_INTERRUPT_INFO is not set
 # CONFIG_RT_USING_THREADSAFE_PRINTF is not set
 CONFIG_RT_USING_CONSOLE=y
@@ -219,10 +217,28 @@ CONFIG_FINSH_USING_OPTION_COMPLETION=y
 #
 # DFS: device virtual file system
 #
-# CONFIG_RT_USING_DFS is not set
+CONFIG_RT_USING_DFS=y
+CONFIG_DFS_USING_POSIX=y
+CONFIG_DFS_USING_WORKDIR=y
+# CONFIG_RT_USING_DFS_MNTTABLE is not set
+CONFIG_DFS_FD_MAX=16
+CONFIG_RT_USING_DFS_V1=y
+# CONFIG_RT_USING_DFS_V2 is not set
+CONFIG_DFS_FILESYSTEMS_MAX=4
+CONFIG_DFS_FILESYSTEM_TYPES_MAX=4
+# CONFIG_RT_USING_DFS_ELMFAT is not set
+CONFIG_RT_USING_DFS_DEVFS=y
+# CONFIG_RT_USING_DFS_ROMFS is not set
+# CONFIG_RT_USING_DFS_CROMFS is not set
+# CONFIG_RT_USING_DFS_RAMFS is not set
+# CONFIG_RT_USING_DFS_TMPFS is not set
+# CONFIG_RT_USING_DFS_MQUEUE is not set
 # end of DFS: device virtual file system
 
-# CONFIG_RT_USING_FAL is not set
+CONFIG_RT_USING_FAL=y
+CONFIG_FAL_USING_DEBUG=y
+CONFIG_FAL_PART_HAS_TABLE_CFG=y
+# CONFIG_FAL_USING_SFUD_PORT is not set
 
 #
 # Device Drivers
@@ -236,29 +252,29 @@ CONFIG_RT_USING_SERIAL=y
 CONFIG_RT_USING_SERIAL_V1=y
 # CONFIG_RT_USING_SERIAL_V2 is not set
 CONFIG_RT_SERIAL_USING_DMA=y
-CONFIG_RT_SERIAL_RB_BUFSZ=1024
+CONFIG_RT_SERIAL_RB_BUFSZ=64
 # CONFIG_RT_USING_SERIAL_BYPASS is not set
 # CONFIG_RT_USING_CAN is not set
 # CONFIG_RT_USING_CPUTIME is not set
 # CONFIG_RT_USING_I2C is not set
 # CONFIG_RT_USING_PHY is not set
 # CONFIG_RT_USING_PHY_V2 is not set
-# CONFIG_RT_USING_ADC is not set
+CONFIG_RT_USING_ADC=y
 # CONFIG_RT_USING_DAC is not set
 # CONFIG_RT_USING_NULL is not set
 # CONFIG_RT_USING_ZERO is not set
 # CONFIG_RT_USING_RANDOM is not set
-# CONFIG_RT_USING_PWM is not set
+CONFIG_RT_USING_PWM=y
 # CONFIG_RT_USING_PULSE_ENCODER is not set
 # CONFIG_RT_USING_INPUT_CAPTURE is not set
-# CONFIG_RT_USING_MTD_NOR is not set
+CONFIG_RT_USING_MTD_NOR=y
 # CONFIG_RT_USING_MTD_NAND is not set
 # CONFIG_RT_USING_PM is not set
 # CONFIG_RT_USING_RTC is not set
 # CONFIG_RT_USING_SDIO is not set
 CONFIG_RT_USING_SPI=y
 # CONFIG_RT_USING_SOFT_SPI is not set
-# CONFIG_RT_USING_QSPI is not set
+CONFIG_RT_USING_QSPI=y
 # CONFIG_RT_USING_SPI_MSD is not set
 # CONFIG_RT_USING_SFUD is not set
 # CONFIG_RT_USING_ENC28J60 is not set
@@ -275,7 +291,63 @@ CONFIG_RT_USING_SPI=y
 CONFIG_RT_USING_PIN=y
 CONFIG_RT_USING_KTIME=y
 # CONFIG_RT_USING_HWTIMER is not set
-# CONFIG_RT_USING_CHERRYUSB is not set
+CONFIG_RT_USING_CHERRYUSB=y
+CONFIG_RT_CHERRYUSB_DEVICE=y
+CONFIG_RT_CHERRYUSB_DEVICE_SPEED_FS=y
+# CONFIG_RT_CHERRYUSB_DEVICE_SPEED_HS is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_SPEED_AUTO is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CUSTOM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_FSDEV_ST is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_FSDEV_CUSTOM is not set
+CONFIG_RT_CHERRYUSB_DEVICE_DWC2_ST=y
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_ESP is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_KENDRYTE is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_AT is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_HC is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_NATION is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_GD is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DWC2_CUSTOM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_MUSB_ES is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_MUSB_SUNXI is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_MUSB_BK is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_MUSB_SIFLI is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_MUSB_CUSTOM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CHIPIDEA_MCX is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CHIPIDEA_CUSTOM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_KINETIS_MCX is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_KINETIS_MM32 is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_KINETIS_CUSTOM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_BL is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_HPM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_AIC is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_RP2040 is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CH32 is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_PUSB2 is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_NRF5X is not set
+CONFIG_RT_CHERRYUSB_DEVICE_CDC_ACM=y
+# CONFIG_RT_CHERRYUSB_DEVICE_HID is not set
+CONFIG_RT_CHERRYUSB_DEVICE_MSC=y
+# CONFIG_RT_CHERRYUSB_DEVICE_AUDIO is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_VIDEO is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CDC_RNDIS is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CDC_ECM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CDC_NCM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_MTP is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_ADB is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_DFU is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_CDC_ACM_CHARDEV is not set
+CONFIG_CONFIG_USBDEV_REQUEST_BUFFER_LEN=1024
+CONFIG_CONFIG_USBDEV_MSC_MAX_BUFSIZE=1024
+# CONFIG_CONFIG_USBDEV_RNDIS_USING_LWIP is not set
+# CONFIG_CONFIG_USBDEV_CDC_ECM_USING_LWIP is not set
+CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_NONE=y
+# CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_CDC_ACM is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_MSC is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_MSC_BLKDEV is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_CDC_ACM_MSC is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_WINUSBV1 is not set
+# CONFIG_RT_CHERRYUSB_DEVICE_TEMPLATE_WINUSBV2_CDC is not set
+# CONFIG_RT_CHERRYUSB_HOST is not set
 # end of Device Drivers
 
 #
@@ -324,7 +396,7 @@ CONFIG_PTHREAD_NUM_MAX=8
 CONFIG_RT_USING_CPLUSPLUS=y
 # CONFIG_RT_USING_CPLUSPLUS11 is not set
 # CONFIG_RT_USING_CPP_WRAPPER is not set
-# CONFIG_RT_USING_CPP_EXCEPTIONS is not set
+CONFIG_RT_USING_CPP_EXCEPTIONS=y
 # end of C/C++ and POSIX layer
 
 #
@@ -360,8 +432,20 @@ CONFIG_RT_USING_CPLUSPLUS=y
 #
 # Using USB legacy version
 #
+CONFIG_RT_USING_USB=y
 # CONFIG_RT_USING_USB_HOST is not set
-# CONFIG_RT_USING_USB_DEVICE is not set
+CONFIG_RT_USING_USB_DEVICE=y
+CONFIG_RT_USBD_THREAD_STACK_SZ=4096
+CONFIG_USB_VENDOR_ID=0x0FFE
+CONFIG_USB_PRODUCT_ID=0x0001
+# CONFIG_RT_USB_DEVICE_COMPOSITE is not set
+CONFIG__RT_USB_DEVICE_NONE=y
+# CONFIG__RT_USB_DEVICE_CDC is not set
+# CONFIG__RT_USB_DEVICE_MSTORAGE is not set
+# CONFIG__RT_USB_DEVICE_HID is not set
+# CONFIG__RT_USB_DEVICE_WINUSB is not set
+# CONFIG__RT_USB_DEVICE_AUDIO is not set
+CONFIG_RT_USB_DEVICE_NONE=y
 # end of Using USB legacy version
 
 # CONFIG_RT_USING_FDT is not set
@@ -560,6 +644,7 @@ CONFIG_RT_USING_CPLUSPLUS=y
 # CONFIG_PKG_USING_U8G2 is not set
 # end of u8g2: a monochrome graphic library
 
+# CONFIG_PKG_USING_NES_SIMULATOR is not set
 # CONFIG_PKG_USING_OPENMV is not set
 # CONFIG_PKG_USING_MUPDF is not set
 # CONFIG_PKG_USING_STEMWIN is not set
@@ -585,6 +670,9 @@ CONFIG_RT_USING_CPLUSPLUS=y
 #
 # tools packages
 #
+# CONFIG_PKG_USING_VECTOR is not set
+# CONFIG_PKG_USING_SORCH is not set
+# CONFIG_PKG_USING_DICT is not set
 # CONFIG_PKG_USING_CMBACKTRACE is not set
 # CONFIG_PKG_USING_MCOREDUMP is not set
 # CONFIG_PKG_USING_EASYFLASH is not set
@@ -697,7 +785,38 @@ CONFIG_PKG_CMSIS_CORE_VER="latest"
 # CONFIG_PKG_USING_SQLITE is not set
 # CONFIG_PKG_USING_RTI is not set
 # CONFIG_PKG_USING_DFS_YAFFS is not set
-# CONFIG_PKG_USING_LITTLEFS is not set
+CONFIG_PKG_USING_LITTLEFS=y
+CONFIG_PKG_LITTLEFS_PATH="/packages/system/littlefs"
+# CONFIG_PKG_USING_LITTLEFS_V090 is not set
+# CONFIG_PKG_USING_LITTLEFS_V170 is not set
+# CONFIG_PKG_USING_LITTLEFS_V172 is not set
+# CONFIG_PKG_USING_LITTLEFS_V201 is not set
+# CONFIG_PKG_USING_LITTLEFS_V205 is not set
+# CONFIG_PKG_USING_LITTLEFS_V214 is not set
+# CONFIG_PKG_USING_LITTLEFS_V220 is not set
+# CONFIG_PKG_USING_LITTLEFS_V221 is not set
+# CONFIG_PKG_USING_LITTLEFS_V230 is not set
+# CONFIG_PKG_USING_LITTLEFS_V250 is not set
+# CONFIG_PKG_USING_LITTLEFS_V293 is not set
+# CONFIG_PKG_USING_LITTLEFS_V2112 is not set
+CONFIG_PKG_USING_LITTLEFS_LATEST_VERSION=y
+CONFIG_LFS_READ_SIZE=256
+CONFIG_LFS_PROG_SIZE=256
+CONFIG_LFS_BLOCK_SIZE=4096
+# CONFIG_LFS_YES_TRACE is not set
+CONFIG_LFS_NO_DEBUG=y
+# CONFIG_LFS_NO_WARN is not set
+# CONFIG_LFS_NO_ERROR is not set
+# CONFIG_LFS_NO_ASSERT is not set
+# CONFIG_LFS_NO_INTRINSICS is not set
+# CONFIG_LFS_NO_MALLOC is not set
+CONFIG_LFS_CACHE_SIZE=256
+CONFIG_LFS_BLOCK_CYCLES=-1
+# CONFIG_DFS_LFS_READONLY is not set
+CONFIG_LFS_THREADSAFE=y
+CONFIG_LFS_LOOKAHEAD_MAX=128
+CONFIG_RT_DEF_LFS_DRIVERS=1
+CONFIG_PKG_LITTLEFS_VER="latest"
 # CONFIG_PKG_USING_DFS_JFFS2 is not set
 # CONFIG_PKG_USING_DFS_UFFS is not set
 # CONFIG_PKG_USING_LWEXT4 is not set
@@ -735,6 +854,8 @@ CONFIG_PKG_CMSIS_CORE_VER="latest"
 # CONFIG_PKG_USING_HEARTBEAT is not set
 # CONFIG_PKG_USING_MICRO_ROS_RTTHREAD_PACKAGE is not set
 # CONFIG_PKG_USING_CHERRYECAT is not set
+# CONFIG_PKG_USING_EVENT_LOOP is not set
+# CONFIG_PKG_USING_THREAD_MANAGER is not set
 # end of system packages
 
 #
@@ -897,6 +1018,7 @@ CONFIG_PKG_STM32H7_CMSIS_DRIVER_VER="latest"
 # CONFIG_PKG_USING_GD32_ARM_CMSIS_DRIVER is not set
 # CONFIG_PKG_USING_GD32_ARM_SERIES_DRIVER is not set
 # CONFIG_PKG_USING_GD32_RISCV_SERIES_DRIVER is not set
+# CONFIG_PKG_USING_GD32VW55X_WIFI is not set
 # end of GD32 Drivers
 
 #
@@ -904,6 +1026,15 @@ CONFIG_PKG_STM32H7_CMSIS_DRIVER_VER="latest"
 #
 # CONFIG_PKG_USING_HPM_SDK is not set
 # end of HPMicro SDK
+
+#
+# FT32 HAL & SDK Drivers
+#
+# CONFIG_PKG_USING_FT32F0_STD_DRIVER is not set
+# CONFIG_PKG_USING_FT32F0_CMSIS_DRIVER is not set
+# CONFIG_PKG_USING_FT32F4_STD_DRIVER is not set
+# CONFIG_PKG_USING_FT32F4_CMSIS_DRIVER is not set
+# end of FT32 HAL & SDK Drivers
 # end of HAL & SDK Drivers
 
 #
@@ -982,6 +1113,7 @@ CONFIG_PKG_STM32H7_CMSIS_DRIVER_VER="latest"
 # CONFIG_PKG_USING_P3T1755 is not set
 # CONFIG_PKG_USING_QMI8658 is not set
 # CONFIG_PKG_USING_ICM20948 is not set
+# CONFIG_PKG_USING_SCD4X is not set
 # end of sensors drivers
 
 #
@@ -999,6 +1131,7 @@ CONFIG_PKG_STM32H7_CMSIS_DRIVER_VER="latest"
 # CONFIG_PKG_USING_CST812T is not set
 # end of touch drivers
 
+# CONFIG_PKG_USING_LCD_SPI_DRIVER is not set
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_BUTTON is not set
 # CONFIG_PKG_USING_PCF8574 is not set
@@ -1078,7 +1211,13 @@ CONFIG_PKG_STM32H7_CMSIS_DRIVER_VER="latest"
 # CONFIG_PKG_USING_IC74HC165 is not set
 # CONFIG_PKG_USING_IST8310 is not set
 # CONFIG_PKG_USING_ST7789_SPI is not set
+# CONFIG_PKG_USING_CAN_UDS is not set
 # CONFIG_PKG_USING_ISOTP_C is not set
+# CONFIG_PKG_USING_IKUNLED is not set
+# CONFIG_PKG_USING_INS5T8025 is not set
+# CONFIG_PKG_USING_IRUART is not set
+# CONFIG_PKG_USING_ST7305 is not set
+# CONFIG_PKG_USING_TM1668 is not set
 # CONFIG_PKG_USING_SPI_TOOLS is not set
 # end of peripheral libraries and drivers
 
@@ -1366,7 +1505,10 @@ CONFIG_PKG_STM32H7_CMSIS_DRIVER_VER="latest"
 # Data Processing
 #
 # CONFIG_PKG_USING_ARDUINO_KALMANFILTER is not set
-# CONFIG_PKG_USING_ARDUINO_ARDUINOJSON is not set
+CONFIG_PKG_USING_ARDUINO_ARDUINOJSON=y
+CONFIG_PKG_ARDUINO_ARDUINOJSON_PATH="/packages/arduino/dataprocessing/ArduinoJson"
+CONFIG_PKG_USING_ARDUINO_ARDUINOJSON_LATEST_VERSION=y
+CONFIG_PKG_ARDUINO_ARDUINOJSON_VER="latest"
 # CONFIG_PKG_USING_ARDUINO_TENSORFLOW_LITE_MICRO is not set
 # CONFIG_PKG_USING_ARDUINO_RUNNINGMEDIAN is not set
 # end of Data Processing
@@ -1426,7 +1568,7 @@ CONFIG_SOC_SERIES_STM32H7=y
 #
 # Hardware Drivers Config
 #
-CONFIG_SOC_STM32H750XB=y
+CONFIG_SOC_STM32H743VI=y
 
 #
 # Onboard Peripheral Drivers
@@ -1441,6 +1583,8 @@ CONFIG_BSP_SCB_ENABLE_I_CACHE=y
 # CONFIG_BSP_SCB_ENABLE_D_CACHE is not set
 CONFIG_BSP_ENABLE_FPU=y
 CONFIG_BSP_USING_GPIO=y
+# CONFIG_BSP_USING_USBD is not set
+CONFIG_BSP_USING_ON_CHIP_FLASH=y
 CONFIG_BSP_USING_UART=y
 CONFIG_BSP_STM32_UART_V1_TX_TIMEOUT=6000
 CONFIG_BSP_USING_UART1=y
@@ -1456,8 +1600,43 @@ CONFIG_BSP_UART3_RX_USING_DMA=y
 # CONFIG_BSP_UART3_TX_USING_DMA is not set
 CONFIG_BSP_UART3_RX_BUFSIZE=1024
 CONFIG_BSP_UART3_TX_BUFSIZE=512
-# CONFIG_BSP_USING_PWM is not set
+CONFIG_BSP_USING_PWM=y
+CONFIG_BSP_USING_PWM1=y
+CONFIG_BSP_USING_PWM1_CH1=y
+CONFIG_BSP_USING_PWM1_CH2=y
+CONFIG_BSP_USING_PWM1_CH3=y
+CONFIG_BSP_USING_PWM1_CH4=y
+CONFIG_BSP_USING_PWM2=y
+# CONFIG_BSP_USING_PWM2_CH1 is not set
+# CONFIG_BSP_USING_PWM2_CH2 is not set
+# CONFIG_BSP_USING_PWM2_CH3 is not set
+# CONFIG_BSP_USING_PWM2_CH4 is not set
+CONFIG_BSP_USING_PWM3=y
+CONFIG_BSP_USING_PWM3_CH1=y
+CONFIG_BSP_USING_PWM3_CH2=y
+CONFIG_BSP_USING_PWM3_CH3=y
+CONFIG_BSP_USING_PWM3_CH4=y
+CONFIG_BSP_USING_PWM4=y
+CONFIG_BSP_USING_PWM4_CH1=y
+CONFIG_BSP_USING_PWM4_CH2=y
+CONFIG_BSP_USING_PWM4_CH3=y
+CONFIG_BSP_USING_PWM4_CH4=y
+CONFIG_BSP_USING_PWM5=y
+CONFIG_BSP_USING_PWM5_CH1=y
+CONFIG_BSP_USING_PWM5_CH2=y
+CONFIG_BSP_USING_PWM5_CH3=y
+CONFIG_BSP_USING_PWM5_CH4=y
+CONFIG_BSP_USING_PWM8=y
+CONFIG_BSP_USING_PWM8_CH1=y
+CONFIG_BSP_USING_PWM8_CH2=y
+CONFIG_BSP_USING_PWM12=y
+CONFIG_BSP_USING_PWM12_CH1=y
+CONFIG_BSP_USING_PWM12_CH2=y
+CONFIG_BSP_USING_PWM15=y
+CONFIG_BSP_USING_PWM15_CH1=y
+CONFIG_BSP_USING_PWM15_CH2=y
 # CONFIG_BSP_USING_QSPI is not set
+# CONFIG_BSP_USING_ADC is not set
 # CONFIG_BSP_USING_SPI is not set
 # CONFIG_BSP_USING_CRC is not set
 # CONFIG_BSP_USING_RNG is not set
@@ -1476,9 +1655,10 @@ CONFIG_BSP_USING_ERPC=y
 CONFIG_ERPC_USING_RTT=y
 CONFIG_ERPC_MODE=y
 CONFIG_ERPC_MODE_SERVER=y
-CONFIG_ERPC_MODE_CLIENT=y
+# CONFIG_ERPC_MODE_CLIENT is not set
 CONFIG_ERPC_TRANSPORTS=y
 # CONFIG_ERPC_TRANSPORTS_SPI is not set
-CONFIG_ERPC_TRANSPORTS_UART=y
+# CONFIG_ERPC_TRANSPORTS_UART is not set
 # CONFIG_ERPC_TRANSPORTS_TCP is not set
+CONFIG_ERPC_TRANSPORTS_USB_CDC=y
 # end of Third Packages Drivers

.idea/editor.xml

@@ -139,6 +139,7 @@
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOverrideWithDifferentVisibility/@EntryIndexedValue" value="WARNING" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
     <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />

.idea/misc.xml

@@ -1,8 +1,11 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
+  <component name="Black">
+    <option name="sdkName" value="cmvr-head" />
+  </component>
   <component name="CMakePythonSetting">
     <option name="pythonIntegrationState" value="YES" />
   </component>
   <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
-  <component name="WestSettings"><![CDATA[{}]]></component>
+  <component name="WestSettings">{}</component>
 </project>

.idea/vcs.xml

@@ -2,7 +2,9 @@
 <project version="4">
   <component name="VcsDirectoryMappings">
     <mapping directory="$PROJECT_DIR$" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/packages/ArduinoJson-latest" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/packages/CMSIS-Core-latest" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/packages/littlefs-latest" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/packages/stm32h7_cmsis_driver-latest" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/packages/stm32h7_hal_driver-latest" vcs="Git" />
   </component>

CMakeLists.txt

@@ -13,7 +13,7 @@ SET(CMAKE_ASM_FLAGS " -c -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard
 SET(CMAKE_C_COMPILER_WORKS TRUE)
 
 SET(CMAKE_CXX_COMPILER "C:/tool/rtthread/env-windows/tools/bin/../../tools/gnu_gcc/arm_gcc/mingw/bin/arm-none-eabi-g++.exe")
-SET(CMAKE_CXX_FLAGS " -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -Dgcc -O0 -gdwarf-2 -g -fno-exceptions -fno-rtti -ffunction-sections -fdata-sections -Wl,--gc-sections")
+SET(CMAKE_CXX_FLAGS " -mcpu=cortex-m7 -mthumb -mfpu=fpv5-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -Dgcc -O0 -gdwarf-2 -g")
 SET(CMAKE_CXX_COMPILER_WORKS TRUE)
 
 SET(CMAKE_OBJCOPY "C:/tool/rtthread/env-windows/tools/bin/../../tools/gnu_gcc/arm_gcc/mingw/bin/arm-none-eabi-objcopy.exe")
@@ -29,29 +29,57 @@ PROJECT(rtthread C CXX ASM)
 INCLUDE_DIRECTORIES(
 	.
 	applications
+	applications/common
+	applications/controller
 	applications/erpc
 	applications/erpc/service
 	applications/erpc/client
 	applications/erpc/common
 	applications/erpc/proto/generated
+	applications/planner
+	applications/servo_manager
 	board
 	board/CubeMX_Config/Inc
+	board/ports/usb
+	board/ports/fal
 	libraries/HAL_Drivers/CMSIS/Include
+	packages/ArduinoJson-latest/src
 	packages/erpc-1.14.0/erpc_c
 	packages/erpc-1.14.0/erpc_c/config
 	packages/erpc-1.14.0/erpc_c/infra
 	packages/erpc-1.14.0/erpc_c/port
 	packages/erpc-1.14.0/erpc_c/setup
 	packages/erpc-1.14.0/erpc_c/transports
+	packages/littlefs-latest
 	rt-thread/include
 	rt-thread/libcpu/arm/common
 	rt-thread/libcpu/arm/cortex-m7
+	rt-thread/components/dfs/dfs_v1/include
+	rt-thread/components/dfs/dfs_v1/filesystems/devfs
 	rt-thread/components/drivers/include
 	rt-thread/components/drivers/ktime
 	rt-thread/components/drivers/ktime/inc
 	rt-thread/components/drivers/phy
 	rt-thread/components/drivers/smp_call
 	rt-thread/components/drivers/spi
+	rt-thread/components/drivers/usb/cherryusb
+	rt-thread/components/drivers/usb/cherryusb/common
+	rt-thread/components/drivers/usb/cherryusb/core
+	rt-thread/components/drivers/usb/cherryusb/class/hub
+	rt-thread/components/drivers/usb/cherryusb/class/cdc
+	rt-thread/components/drivers/usb/cherryusb/class/msc
+	rt-thread/components/drivers/usb/cherryusb/class/hid
+	rt-thread/components/drivers/usb/cherryusb/class/audio
+	rt-thread/components/drivers/usb/cherryusb/class/video
+	rt-thread/components/drivers/usb/cherryusb/class/wireless
+	rt-thread/components/drivers/usb/cherryusb/class/midi
+	rt-thread/components/drivers/usb/cherryusb/class/adb
+	rt-thread/components/drivers/usb/cherryusb/class/dfu
+	rt-thread/components/drivers/usb/cherryusb/class/vendor/net
+	rt-thread/components/drivers/usb/cherryusb/class/vendor/serial
+	rt-thread/components/drivers/usb/cherryusb/class/vendor/wifi
+	rt-thread/components/drivers/usb/cherryusb/osal
+	rt-thread/components/fal/inc
 	rt-thread/components/finsh
 	rt-thread/components/libc/compilers/common/include
 	rt-thread/components/libc/compilers/newlib
@@ -69,11 +97,13 @@ INCLUDE_DIRECTORIES(
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Inc/Legacy
 	libraries/HAL_Drivers/drivers
 	libraries/HAL_Drivers/drivers/config
+	libraries/HAL_Drivers/drivers/drv_flash
 	libraries/HAL_Drivers
 )
 
 ADD_DEFINITIONS(
-	-DSTM32H750xx
+	-DSTM32H743xx
+	-DLFS_CONFIG=lfs_config.h
 	-D__RTTHREAD__
 	-DRT_USING_NEWLIBC
 	-DRT_USING_LIBC
@@ -84,17 +114,35 @@ ADD_DEFINITIONS(
 # Library source files
 SET(RT_APP_ERPC_SOURCES
 	applications/erpc/service/src/erpc_server_main.cpp
+	applications/erpc/proto/generated/file_service_interface.cpp
+	applications/erpc/service/src/file_service_impl.cpp
+	applications/erpc/proto/generated/servo_service_interface.cpp
+	applications/erpc/proto/generated/servo_service_server.cpp
+	applications/erpc/service/src/servo_service_impl.cpp
+	applications/erpc/proto/generated/file_service_server.cpp
 	applications/erpc/common/src/erpc_error_handler.cpp
-	applications/erpc/service/src/head_service_impl.cpp
-	applications/erpc/proto/generated/head_service_server.cpp
-	applications/erpc/client/src/erpc_client_main.cpp
-	applications/erpc/proto/generated/head_service_interface.cpp
-	applications/erpc/proto/generated/head_service_client.cpp
 )
 
 SET(RT_APPLICATIONS_SOURCES
-	applications/servo.c
+	applications/main.cpp
-	applications/main.c
+)
+
+SET(RT_ARDUINOJSON_SOURCES
+)
+
+SET(RT_CHERRYUSB_SOURCES
+	rt-thread/components/drivers/usb/cherryusb/core/usbd_core.c
+	rt-thread/components/drivers/usb/cherryusb/class/msc/usbd_msc.c
+	rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_dc_dwc2.c
+	rt-thread/components/drivers/usb/cherryusb/class/cdc/usbd_cdc_acm.c
+	rt-thread/components/drivers/usb/cherryusb/osal/usb_osal_rtthread.c
+	rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_msh.c
+	rt-thread/components/drivers/usb/cherryusb/platform/rtthread/usb_check.c
+	rt-thread/components/drivers/usb/cherryusb/port/dwc2/usb_glue_st.c
+)
+
+SET(RT_COMMON_SOURCES
+	applications/common/curve/src/s_curve.cpp
 )
 
 SET(RT_COMPILER_SOURCES
@@ -107,6 +155,12 @@ SET(RT_COMPILER_SOURCES
 	rt-thread/components/libc/compilers/newlib/syscalls.c
 )
 
+SET(RT_CONTROLLER_SOURCES
+	applications/controller/src/pid_controller.cpp
+	applications/planner/s_curve_planner/src/s_curve_position_planner.cpp
+	applications/planner/s_curve_planner/src/s_curve_velocity_planner.cpp
+)
+
 SET(RT_CPP_SOURCES
 	rt-thread/components/libc/cplusplus/cxx_crt.cpp
 	rt-thread/components/libc/cplusplus/cxx_crt_init.c
@@ -123,8 +177,12 @@ SET(RT_DEVICEDRIVERS_SOURCES
 	rt-thread/components/drivers/ipc/ringbuffer.c
 	rt-thread/components/drivers/ipc/waitqueue.c
 	rt-thread/components/drivers/ipc/workqueue.c
+	rt-thread/components/drivers/misc/adc.c
+	rt-thread/components/drivers/misc/rt_drv_pwm.c
+	rt-thread/components/drivers/mtd/mtd_nor.c
 	rt-thread/components/drivers/pin/dev_pin.c
 	rt-thread/components/drivers/serial/dev_serial.c
+	rt-thread/components/drivers/spi/dev_qspi_core.c
 	rt-thread/components/drivers/spi/dev_spi.c
 	rt-thread/components/drivers/spi/dev_spi_core.c
 )
@@ -132,42 +190,62 @@ SET(RT_DEVICEDRIVERS_SOURCES
 SET(RT_DRIVERS_SOURCES
 	board/CubeMX_Config/Src/stm32h7xx_hal_msp.c
 	board/board.c
-	board/ports/qspi_flash_init.c
+	board/ports/fal/fal_flashfs.c
-	libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/gcc/startup_stm32h750xx.s
+	board/ports/usb/usb_cdc_char_device.c
+	board/ports/usb/usb_cdc_init.c
+	libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/gcc/startup_stm32h743xx.s
+	libraries/HAL_Drivers/drivers/drv_adc.c
+	libraries/HAL_Drivers/drivers/drv_flash/drv_flash_h7.c
 	libraries/HAL_Drivers/drivers/drv_gpio.c
+	libraries/HAL_Drivers/drivers/drv_pwm.c
+	libraries/HAL_Drivers/drivers/drv_qspi.c
 	libraries/HAL_Drivers/drivers/drv_spi.c
+	libraries/HAL_Drivers/drivers/drv_tim.c
 	libraries/HAL_Drivers/drivers/drv_usart.c
 	libraries/HAL_Drivers/drv_common.c
 )
 
 SET(RT_ERPC_SOURCES
-	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
+	packages/erpc-1.14.0/erpc_c/port/erpc_port_rtt.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_server_setup.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_server.cpp
 	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_static.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_simple_server.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_server.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_serial.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_pre_post_action.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_message_buffer.cpp
 	packages/erpc-1.14.0/erpc_c/infra/erpc_basic_codec.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_framed_transport.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_simple_server.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_client_manager.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_server_setup.cpp
-	packages/erpc-1.14.0/erpc_c/transports/erpc_serial_transport.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_message_loggers.cpp
-	packages/erpc-1.14.0/erpc_c/port/erpc_threading_pthreads.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_transport_arbitrator.cpp
-	packages/erpc-1.14.0/erpc_c/infra/erpc_arbitrated_client_manager.cpp
 	packages/erpc-1.14.0/erpc_c/transports/erpc_inter_thread_buffer_transport.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_transport_arbitrator.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_mbf_dynamic.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_message_buffer.cpp
+	packages/erpc-1.14.0/erpc_c/port/erpc_threading_pthreads.cpp
+	packages/erpc-1.14.0/erpc_c/transports/erpc_usb_cdc_transport.cpp
 	packages/erpc-1.14.0/erpc_c/infra/erpc_crc16.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_arbitrated_client_setup.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_message_loggers.cpp
-	packages/erpc-1.14.0/erpc_c/setup/erpc_client_setup.cpp
+	packages/erpc-1.14.0/erpc_c/setup/erpc_setup_usb_cdc.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_framed_transport.cpp
+	packages/erpc-1.14.0/erpc_c/infra/erpc_pre_post_action.cpp
+)
+
+SET(RT_FAL_SOURCES
+	rt-thread/components/fal/src/fal.c
+	rt-thread/components/fal/src/fal_rtt.c
+	rt-thread/components/fal/src/fal_flash.c
+	rt-thread/components/fal/src/fal_partition.c
+)
+
+SET(RT_FILESYSTEM_SOURCES
+	rt-thread/components/dfs/dfs_v1/filesystems/devfs/devfs.c
+	rt-thread/components/dfs/dfs_v1/src/dfs.c
+	rt-thread/components/dfs/dfs_v1/src/dfs_file.c
+	rt-thread/components/dfs/dfs_v1/src/dfs_fs.c
+	rt-thread/components/dfs/dfs_v1/src/dfs_posix.c
 )
 
 SET(RT_FINSH_SOURCES
-	rt-thread/components/finsh/cmd.c
 	rt-thread/components/finsh/msh.c
-	rt-thread/components/finsh/msh_parse.c
+	rt-thread/components/finsh/msh_file.c
+	rt-thread/components/finsh/cmd.c
 	rt-thread/components/finsh/shell.c
+	rt-thread/components/finsh/msh_parse.c
 )
 
 SET(RT_KERNEL_SOURCES
@@ -190,16 +268,15 @@ SET(RT_KERNEL_SOURCES
 
 SET(RT_KLIBC_SOURCES
 	rt-thread/src/klibc/rt_vsscanf.c
-	rt-thread/src/klibc/rt_vsnprintf_tiny.c
-	rt-thread/src/klibc/kerrno.c
 	rt-thread/src/klibc/kstdio.c
 	rt-thread/src/klibc/kstring.c
+	rt-thread/src/klibc/kerrno.c
 )
 
 SET(RT_KTIME_SOURCES
-	rt-thread/components/drivers/ktime/src/hrtimer.c
-	rt-thread/components/drivers/ktime/src/boottime.c
 	rt-thread/components/drivers/ktime/src/cputimer.c
+	rt-thread/components/drivers/ktime/src/boottime.c
+	rt-thread/components/drivers/ktime/src/hrtimer.c
 )
 
 SET(RT_LIBCPU_SOURCES
@@ -212,30 +289,45 @@ SET(RT_LIBCPU_SOURCES
 )
 
 SET(RT_LIBRARIES_SOURCES
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cec.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_comp.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c
-	libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_sram.c
-	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_qspi.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cec.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_comp.c
+	libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_usart.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_crc.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_lptim.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c
 	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rng.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_nor.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_sram.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cryp.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c
+	libraries/STM32H7xx_HAL/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c
+)
+
+SET(RT_LITTLEFS_SOURCES
+	packages/littlefs-latest/lfs_util.c
+	packages/littlefs-latest/dfs_lfs.c
+	packages/littlefs-latest/lfs_crc.c
+	packages/littlefs-latest/lfs.c
 )
 
 SET(RT_POSIX_SOURCES
@@ -252,6 +344,13 @@ SET(RT_POSIX_SOURCES
 	rt-thread/components/libc/posix/tls/emutls.c
 )
 
+SET(RT_SERVO_CONTROL_SOURCES
+	applications/servo_manager/src/servo_config.cpp
+	applications/servo_manager/src/servo_manager.cpp
+	applications/servo_manager/src/servo_driver.cpp
+	applications/servo_manager/src/servo_control.cpp
+)
+
 SET(RT_UTC_UTEST_SOURCES
 )
 
@@ -276,20 +375,28 @@ SET(RT_COMPILER_LIBS
 
 # Libraries
 ADD_LIBRARY(rtt_app_erpc OBJECT ${RT_APP_ERPC_SOURCES})
+ADD_LIBRARY(rtt_CherryUSB OBJECT ${RT_CHERRYUSB_SOURCES})
+ADD_LIBRARY(rtt_common OBJECT ${RT_COMMON_SOURCES})
 ADD_LIBRARY(rtt_Compiler OBJECT ${RT_COMPILER_SOURCES})
+ADD_LIBRARY(rtt_controller OBJECT ${RT_CONTROLLER_SOURCES})
 ADD_LIBRARY(rtt_CPP OBJECT ${RT_CPP_SOURCES})
 ADD_LIBRARY(rtt_DeviceDrivers OBJECT ${RT_DEVICEDRIVERS_SOURCES})
 ADD_LIBRARY(rtt_Drivers OBJECT ${RT_DRIVERS_SOURCES})
 ADD_LIBRARY(rtt_erpc OBJECT ${RT_ERPC_SOURCES})
+ADD_LIBRARY(rtt_Fal OBJECT ${RT_FAL_SOURCES})
+ADD_LIBRARY(rtt_Filesystem OBJECT ${RT_FILESYSTEM_SOURCES})
 ADD_LIBRARY(rtt_Finsh OBJECT ${RT_FINSH_SOURCES})
 ADD_LIBRARY(rtt_Kernel OBJECT ${RT_KERNEL_SOURCES})
 ADD_LIBRARY(rtt_klibc OBJECT ${RT_KLIBC_SOURCES})
 ADD_LIBRARY(rtt_ktime OBJECT ${RT_KTIME_SOURCES})
 ADD_LIBRARY(rtt_libcpu OBJECT ${RT_LIBCPU_SOURCES})
 ADD_LIBRARY(rtt_Libraries OBJECT ${RT_LIBRARIES_SOURCES})
+ADD_LIBRARY(rtt_littlefs OBJECT ${RT_LITTLEFS_SOURCES})
 ADD_LIBRARY(rtt_POSIX OBJECT ${RT_POSIX_SOURCES})
+ADD_LIBRARY(rtt_servo_control OBJECT ${RT_SERVO_CONTROL_SOURCES})
 
 # Interface libraries
+ADD_LIBRARY(rtt_ArduinoJson INTERFACE)
 ADD_LIBRARY(rtt_utc_UTest INTERFACE)
 ADD_LIBRARY(rtt_utestcases INTERFACE)
 
@@ -303,18 +410,26 @@ TARGET_LINK_LIBRARIES(rtt_Compiler INTERFACE ${RT_COMPILER_LIBS})
 ADD_EXECUTABLE(${CMAKE_PROJECT_NAME}.elf ${RT_APPLICATIONS_SOURCES})
 TARGET_LINK_LIBRARIES(${CMAKE_PROJECT_NAME}.elf
 	rtt_app_erpc
+	rtt_CherryUSB
+	rtt_common
 	rtt_Compiler
+	rtt_controller
 	rtt_CPP
 	rtt_DeviceDrivers
 	rtt_Drivers
 	rtt_erpc
+	rtt_Fal
+	rtt_Filesystem
 	rtt_Finsh
 	rtt_Kernel
 	rtt_klibc
 	rtt_ktime
 	rtt_libcpu
 	rtt_Libraries
+	rtt_littlefs
 	rtt_POSIX
+	rtt_servo_control
+	rtt_ArduinoJson
 	rtt_utc_UTest
 	rtt_utestcases
 )

README.md

@@ -1,124 +1,12 @@
-# BSP README 模板
+为了暂时使用芯片上超出128k 的flash  当作config 文件的存储区，修改了
+libraries/STM32H7xx_HAL/CMSIS/Device/ST/STM32H7xx/Include/stm32h750xx.h 
+的
 
-## 简介
+#define FLASH_END                 (0x0801FFFFUL) /*!< FLASH end address    
 
-本文档为 xxx 开发板的 BSP (板级支持包) 说明。
+为
 
-主要内容如下：
+#define FLASH_END                 (0x0803FFFFUL) /*!< FLASH end address   
 
-- 开发板资源介绍
+并在libraries/HAL_Drivers/drivers/drv_flash/drv_flash_h7.c 中添加了
-- BSP 快速上手
+const struct fal_flash_dev stm32_onchip_flash_256k = { "onchip_flash_256k", 0x08000000, (256 * 1024), (128 * 1024), {NULL, fal_flash_read_128k, fal_flash_write_128k, fal_flash_erase_128k},256 };
-- 进阶使用方法
-
-通过阅读快速上手章节开发者可以快速地上手该 BSP，将 RT-Thread 运行在开发板上。在进阶使用指南章节，将会介绍更多高级功能，帮助开发者利用 RT-Thread 驱动更多板载资源。
-
-## 开发板介绍
-
-【此处简单介绍一下开发板】
-
-开发板外观如下图所示：
-
-![board](figures/board.jpg)
-
-该开发板常用 **板载资源** 如下：
-
-- MCU：STM32H743，主频 400MHz，2MB FLASH ，1MB RAM
-- 外部 SDRAM：W9825G6KH，32MB
-- 外部 NAND FLASH：H27U4G8F2，512MB
-- 外部 FLASH：W25Q256，32MB
-- 常用外设
-  - LED：2个，DS0（红色，PB1），DS1（绿色，PB0）
-  - 按键：4个，KEY_UP（兼具唤醒功能，PA0），K0（PH3），K1（PH2），K2（PC13）
-- 常用接口：USB 转串口、SD 卡接口、以太网接口、LCD 接口等
-- 调试接口，标准 JTAG/SWD
-
-开发板更多详细信息请参考正点原子 [STM32阿波罗开发板介绍](https://eboard.taobao.com/index.htm)。
-
-## 外设支持
-
-本 BSP 目前对外设的支持情况如下：
-
-| **板载外设**      | **支持情况** | **备注**                              |
-| :----------------- | :----------: | :------------------------------------- |
-| USB 转串口        |     支持     |                                       |
-| QSPI Flash        |   暂不支持   |                                       |
-| 以太网            |   暂不支持   |                                       |
-| SD卡              |   暂不支持   |                                       |
-| CAN               |   暂不支持   |                                       |
-| SDRAM             |   暂不支持   |                                       |
-| MPU9250六轴传感器 |   暂不支持   |                                       |
-| **片上外设**      | **支持情况** | **备注**                              |
-| GPIO              |     支持     | PA0, PA1... PK15 ---> PIN: 0, 1...176 |
-| UART              |     支持     |                                       |
-| SPI               |   暂不支持   |                                       |
-| I2C               |   暂不支持   |                                       |
-| SDIO              |   暂不支持   | 即将支持                              |
-| RTC               |   暂不支持   | 即将支持                              |
-| PWM               |   暂不支持   | 即将支持                              |
-| USB Device        |   暂不支持   | 即将支持                              |
-| USB Host          |   暂不支持   | 即将支持                              |
-| IWG               |   暂不支持   | 即将支持                              |
-
-## 使用说明
-
-使用说明分为如下两个章节：
-
-- 快速上手
-
-    本章节是为刚接触 RT-Thread 的新手准备的使用说明，遵循简单的步骤即可将 RT-Thread 操作系统运行在该开发板上，看到实验效果 。
-
-- 进阶使用
-
-    本章节是为需要在 RT-Thread 操作系统上使用更多开发板资源的开发者准备的。通过使用 ENV 工具对 BSP 进行配置，可以开启更多板载资源，实现更多高级功能。
-
-
-### 快速上手
-
-本 BSP 为开发者提供 MDK4、MDK5 和 IAR 工程，并且支持 GCC 开发环境。下面以 MDK5 开发环境为例，介绍如何将系统运行起来。
-
-#### 硬件连接
-
-使用数据线连接开发板到 PC，打开电源开关。
-
-#### 编译下载
-
-双击 project.uvprojx 文件，打开 MDK5 工程，编译并下载程序到开发板。
-
-> 工程默认配置使用 ST_LINK 仿真器下载程序，在通过 ST_LINK 连接开发板的基础上，点击下载按钮即可下载程序到开发板
-
-#### 运行结果
-
-下载程序成功之后，系统会自动运行，LED闪烁。
-
-连接开发板对应串口到 PC , 在终端工具里打开相应的串口（115200-8-1-N），复位设备后，可以看到 RT-Thread 的输出信息:
-
-```bash
- \ | /
-- RT -     Thread Operating System
- / | \     4.0.1 build Mar 5 2019
- 2006 - 2019 Copyright by rt-thread team
-msh >
-```
-### 进阶使用
-
-此 BSP 默认只开启了 GPIO 和 串口1 的功能，如果需使用 SD 卡、Flash 等更多高级功能，需要利用 ENV 工具对BSP 进行配置，步骤如下：
-
-1. 在 bsp 下打开 env 工具。
-
-2. 输入`menuconfig`命令配置工程，配置好之后保存退出。
-
-3. 输入`pkgs --update`命令更新软件包。
-
-4. 输入`scons --target=mdk4/mdk5/iar` 命令重新生成工程。
-
-本章节更多详细的介绍请参考 [STM32 系列 BSP 外设驱动使用教程](../docs/STM32系列BSP外设驱动使用教程.md)。
-
-## 注意事项
-
-- xxx
-
-## 联系人信息
-
-维护人:
-
--  [xxx](https://个人主页), 邮箱：<xxx@xxx.com>

applications/SConscript

@@ -3,6 +3,7 @@ import os
 
 cwd = GetCurrentDir()
 src = Glob('*.c')
+src += Glob('*.cpp')
 CPPPATH = [cwd]
 
 group = DefineGroup('Applications', src, depend = [''], CPPPATH = CPPPATH)

applications/common/SConscript

@@ -0,0 +1,10 @@
+from building import *
+import os
+
+cwd = GetCurrentDir()
+src = Glob('curve/src/*.cpp')
+CPPPATH = [cwd]
+
+group = DefineGroup('common', src, depend = [''], CPPPATH = CPPPATH)
+
+Return('group')

applications/common/curve/include/s_curve.h

@@ -0,0 +1,167 @@
+//
+// Created by lgv on 2026/3/2.
+//
+/**
+ * @file s_curve.h
+ * @brief 严格点到点位置 S 曲线轨迹生成器
+ *
+ * 实现标准 7 段式位置 S 曲线速度剖面：
+ * 1. 加加速度上升段（加速度逐渐增大）
+ * 2. 匀加速段
+ * 3. 加加速度下降段（加速度逐渐降到 0）
+ * 4. 匀速巡航段
+ * 5. 加加速度下降段（减速度逐渐增大）
+ * 6. 匀减速段
+ * 7. 加加速度上升段（减速度逐渐降到 0）
+ *
+ * 本类只负责严格点到点 profile 规划与采样，不负责实时目标跟踪。
+ */
+
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
+
+namespace cmvr
+{
+
+/**
+ * @brief 单次点到点运动的 S 曲线剖面参数
+ */
+struct SCurveProfile
+{
+  // 7 个阶段的持续时间
+  double t1;  // 加加速度上升时间（加速阶段）
+  double t2;  // 匀加速时间
+  double t3;  // 加加速度下降时间（加速阶段结束）
+  double t4;  // 匀速时间（巡航）
+  double t5;  // 加加速度下降时间（减速阶段）
+  double t6;  // 匀减速时间
+  double t7;  // 加加速度上升时间（减速阶段结束）
+
+  double total_time;
+
+  // 运动约束
+  double j_max;   // 最大加加速度 (rad/s³)
+  double a_max;   // 最大加速度 (rad/s²)
+  double v_max;   // 最大速度 (rad/s)
+
+  // 运动参数
+  double distance;      // 运动总距离
+  double direction;     // +1 或 -1
+  double v_cruise;      // 实际达到的巡航速度
+  double a_limit;       // 实际达到的加速度上限
+
+  // 初始条件
+  double p0;  // 初始位置
+  double v0;  // 初始速度
+  double a0;  // 初始加速度
+  double vf;  // 终止速度
+
+  SCurveProfile()
+    : t1(0), t2(0), t3(0), t4(0), t5(0), t6(0), t7(0)
+    , total_time(0)
+    , j_max(50.0), a_max(10.0), v_max(3.0)
+    , distance(0), direction(1.0), v_cruise(0), a_limit(0)
+    , p0(0), v0(0), a0(0), vf(0)
+  {}
+};
+
+/**
+ * @brief 严格点到点位置 S 曲线规划器
+ */
+class SCurve
+{
+public:
+  /**
+   * @brief 构造函数（带运动约束）
+   * @param max_velocity 最大速度 (rad/s)
+   * @param max_acceleration 最大加速度 (rad/s²)
+   * @param max_jerk 最大加加速度 (rad/s³)
+   */
+  SCurve(double max_velocity = 3.0,
+                  double max_acceleration = 10.0,
+                  double max_jerk = 50.0);
+
+  /**
+   * @brief 设置运动约束
+   */
+  void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
+
+  /**
+   * @brief 获取当前运动约束
+   */
+  void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
+
+  /**
+   * @brief 计算点到点运动的完整 S 曲线剖面
+   * @param start_position 起始位置
+   * @param end_position 终止位置
+   * @param start_velocity 起始速度（默认 0）
+   * @param end_velocity 终止速度（默认 0）
+   * @return 计算得到的剖面参数
+   */
+  SCurveProfile calculateProfile(double start_position, double end_position,
+                                  double start_velocity = 0.0, double end_velocity = 0.0);
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的位置
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的位置
+   */
+  double getPositionAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的速度
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的速度
+   */
+  double getVelocityAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的加速度
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的加速度
+   */
+  double getAccelerationAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的加加速度
+   * @param profile S 曲线剖面
+   * @param t 从起点开始的时间
+   * @return 时刻 t 的加加速度
+   */
+  double getJerkAtTime(const SCurveProfile& profile, double t) const;
+
+  /**
+   * @brief 按固定时间间隔生成轨迹点
+   * @param profile S 曲线剖面
+   * @param dt 轨迹点时间间隔
+   * @param positions 输出：每个时间点的位置
+   * @param velocities 输出：每个时间点的速度
+   * @param accelerations 输出：每个时间点的加速度
+   */
+  void generateTrajectory(const SCurveProfile& profile, double dt,
+                          std::vector<double>& positions,
+                          std::vector<double>& velocities,
+                          std::vector<double>& accelerations) const;
+
+private:
+  double max_velocity_;
+  double max_acceleration_;
+  double max_jerk_;
+
+  static constexpr double EPSILON = 1e-9;
+  static constexpr double VELOCITY_THRESHOLD = 1e-6;
+
+  double computeSegmentJerk(const SCurveProfile& profile, double t) const;
+  void calculateShortProfile(SCurveProfile& profile) const;
+  void calculateLongProfile(SCurveProfile& profile) const;
+};
+
+}  // namespace cmvr

applications/common/curve/src/s_curve.cpp

@@ -0,0 +1,542 @@
+//
+// Created by lgv on 2026/3/2.
+//
+
+
+/**
+ * @file s_curve_generator.cpp
+ * @brief S 曲线轨迹生成器实现
+ */
+
+#include "common/curve/include/s_curve.h"
+#include <cmath>
+#include <algorithm>
+#include <stdexcept>
+
+namespace cmvr
+{
+SCurve::SCurve(double max_velocity, double max_acceleration, double max_jerk)
+  : max_velocity_(std::abs(max_velocity))
+  , max_acceleration_(std::abs(max_acceleration))
+  , max_jerk_(std::abs(max_jerk))
+{}
+
+void SCurve::setConstraints(double max_velocity, double max_acceleration, double max_jerk)
+{
+  max_velocity_ = std::abs(max_velocity);
+  max_acceleration_ = std::abs(max_acceleration);
+  max_jerk_ = std::abs(max_jerk);
+}
+
+void SCurve::getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const
+{
+  max_velocity = max_velocity_;
+  max_acceleration = max_acceleration_;
+  max_jerk = max_jerk_;
+}
+
+SCurveProfile SCurve::calculateProfile(double start_position, double end_position,
+                                                 double start_velocity, double end_velocity)
+{
+  SCurveProfile profile;
+  profile.j_max = max_jerk_;
+  profile.a_max = max_acceleration_;
+  profile.v_max = max_velocity_;
+  profile.p0 = start_position;
+  profile.v0 = start_velocity;
+  profile.a0 = 0.0;  // Assume starting from zero acceleration
+  profile.vf = end_velocity;
+
+  double displacement = end_position - start_position;
+  profile.distance = std::abs(displacement);
+  profile.direction = (displacement >= 0) ? 1.0 : -1.0;
+
+  if (profile.distance < EPSILON) {
+    // 无需运动
+    profile.total_time = 0.0;
+    return profile;
+  }
+
+  const double start_speed = profile.direction * start_velocity;
+  const double end_speed = profile.direction * end_velocity;
+  if (start_speed < -VELOCITY_THRESHOLD || end_speed < -VELOCITY_THRESHOLD) {
+    profile.total_time = 0.0;
+    return profile;
+  }
+
+  if (std::abs(start_speed) > VELOCITY_THRESHOLD ||
+      std::abs(end_speed) > VELOCITY_THRESHOLD) {
+    auto calc_transition = [&](double v_from, double v_to,
+                               double& t_j, double& t_a,
+                               double& duration, double& distance) {
+      t_j = 0.0;
+      t_a = 0.0;
+      duration = 0.0;
+      distance = 0.0;
+
+      const double dv = std::abs(v_to - v_from);
+      if (dv <= 1e-12 || profile.a_max <= 1e-12 || profile.j_max <= 1e-12) {
+        return;
+      }
+
+      const double dv_switch = profile.a_max * profile.a_max / profile.j_max;
+      if (dv < dv_switch) {
+        t_j = std::sqrt(dv / profile.j_max);
+        t_a = 0.0;
+      } else {
+        t_j = profile.a_max / profile.j_max;
+        t_a = dv / profile.a_max - t_j;
+      }
+
+      duration = 2.0 * t_j + t_a;
+      distance = 0.5 * (v_from + v_to) * duration;
+    };
+
+    const double v_cap = std::max({profile.v_max, start_speed, end_speed});
+    const double v_peak_min = std::max(start_speed, end_speed);
+
+    double acc_tj = 0.0, acc_ta = 0.0, acc_duration = 0.0, acc_distance = 0.0;
+    double dec_tj = 0.0, dec_ta = 0.0, dec_duration = 0.0, dec_distance = 0.0;
+    calc_transition(start_speed, v_peak_min,
+                    acc_tj, acc_ta, acc_duration, acc_distance);
+    calc_transition(v_peak_min, end_speed,
+                    dec_tj, dec_ta, dec_duration, dec_distance);
+    const double d_min = acc_distance + dec_distance;
+    if (profile.distance + EPSILON < d_min) {
+      profile.total_time = 0.0;
+      return profile;
+    }
+
+    calc_transition(start_speed, v_cap,
+                    acc_tj, acc_ta, acc_duration, acc_distance);
+    calc_transition(v_cap, end_speed,
+                    dec_tj, dec_ta, dec_duration, dec_distance);
+    const double d_cap = acc_distance + dec_distance;
+
+    double v_peak = v_cap;
+    double t4 = 0.0;
+
+    if (profile.distance > d_cap + EPSILON) {
+      t4 = (profile.distance - d_cap) / std::max(v_peak, EPSILON);
+    } else {
+      double lo = v_peak_min;
+      double hi = v_cap;
+      for (int iter = 0; iter < 80; ++iter) {
+        const double mid = 0.5 * (lo + hi);
+        double mid_acc_tj = 0.0, mid_acc_ta = 0.0, mid_acc_duration = 0.0, mid_acc_distance = 0.0;
+        double mid_dec_tj = 0.0, mid_dec_ta = 0.0, mid_dec_duration = 0.0, mid_dec_distance = 0.0;
+        calc_transition(start_speed, mid,
+                        mid_acc_tj, mid_acc_ta, mid_acc_duration, mid_acc_distance);
+        calc_transition(mid, end_speed,
+                        mid_dec_tj, mid_dec_ta, mid_dec_duration, mid_dec_distance);
+        const double d_mid = mid_acc_distance + mid_dec_distance;
+        if (d_mid < profile.distance) {
+          lo = mid;
+        } else {
+          hi = mid;
+        }
+      }
+      v_peak = hi;
+      calc_transition(start_speed, v_peak,
+                      acc_tj, acc_ta, acc_duration, acc_distance);
+      calc_transition(v_peak, end_speed,
+                      dec_tj, dec_ta, dec_duration, dec_distance);
+    }
+
+    profile.t1 = acc_tj;
+    profile.t2 = acc_ta;
+    profile.t3 = acc_tj;
+    profile.t4 = t4;
+    profile.t5 = dec_tj;
+    profile.t6 = dec_ta;
+    profile.t7 = dec_tj;
+    profile.v_cruise = v_peak;
+    profile.a_limit = std::max(profile.j_max * profile.t1, profile.j_max * profile.t5);
+    profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
+                         profile.t5 + profile.t6 + profile.t7;
+    return profile;
+  }
+
+  const double j = profile.j_max;
+  const double a = profile.a_max;
+  const double v = profile.v_max;
+  const double t_j_a = a / j;
+
+  if (v < a * t_j_a) {
+    const double t_j_v = std::sqrt(v / j);
+    const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v;
+    if (profile.distance > s_min + EPSILON) {
+      calculateLongProfile(profile);
+    } else {
+      calculateShortProfile(profile);
+    }
+  } else {
+    const double t_a_v = v / a - t_j_a;
+    const double s_half_v =
+      a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a_v + 0.5 * t_a_v * t_a_v);
+    const double s_min = 2.0 * s_half_v;
+    if (profile.distance > s_min + EPSILON) {
+      calculateLongProfile(profile);
+    } else {
+      calculateShortProfile(profile);
+    }
+  }
+
+  return profile;
+}
+
+void SCurve::calculateShortProfile(SCurveProfile& profile) const
+{
+  // 短距离：无巡航段（t4 = 0），与 moveL_SCurveLocal 中的 SCurveProfile1D 保持一致。
+  const double j = profile.j_max;
+  const double a = profile.a_max;
+  const double v = profile.v_max;
+  const double d = profile.distance;
+  const double t_j_a = a / j;
+
+  if (v < a * t_j_a) {
+    // 达不到 a_max：极短距离时只有 4 个 jerk 段。
+    const double t1 = std::cbrt(d / (2.0 * j));
+    profile.t1 = t1;
+    profile.t2 = 0.0;
+    profile.t3 = t1;
+    profile.t4 = 0.0;
+    profile.t5 = t1;
+    profile.t6 = 0.0;
+    profile.t7 = t1;
+    profile.v_cruise = j * t1 * t1;
+    profile.a_limit = j * t1;
+  } else {
+    // 能达到 a_max，但达不到 v_max：求无巡航的匀加速持续时间。
+    const double D = t_j_a * t_j_a + 4.0 * (d / a);
+    double t2 = (-3.0 * t_j_a + std::sqrt(std::max(0.0, D))) * 0.5;
+
+    if (t2 < 0.0) {
+      const double t1 = std::cbrt(d / (2.0 * j));
+      profile.t1 = t1;
+      profile.t2 = 0.0;
+      profile.t3 = t1;
+      profile.t4 = 0.0;
+      profile.t5 = t1;
+      profile.t6 = 0.0;
+      profile.t7 = t1;
+      profile.v_cruise = j * t1 * t1;
+      profile.a_limit = j * t1;
+    } else {
+      profile.t1 = t_j_a;
+      profile.t2 = t2;
+      profile.t3 = t_j_a;
+      profile.t4 = 0.0;
+      profile.t5 = t_j_a;
+      profile.t6 = t2;
+      profile.t7 = t_j_a;
+      profile.v_cruise = a * (t2 + t_j_a);
+      profile.a_limit = a;
+    }
+  }
+
+  profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
+                       profile.t5 + profile.t6 + profile.t7;
+}
+
+void SCurve::calculateLongProfile(SCurveProfile& profile) const
+{
+  // 含巡航段的完整 7 段式 S 曲线；与 SCurveProfile1D 的 full-profile 公式一致。
+  const double j = profile.j_max;
+  const double a = profile.a_max;
+  const double v = profile.v_max;
+  const double d = profile.distance;
+  const double t_j_a = a / j;
+
+  if (v < a * t_j_a) {
+    // 达不到 a_max，但可以达到 v_max 并进入巡航。
+    const double t_j_v = std::sqrt(v / j);
+    const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v;
+    profile.t1 = t_j_v;
+    profile.t2 = 0.0;
+    profile.t3 = t_j_v;
+    profile.t4 = std::max(0.0, (d - s_min) / v);
+    profile.t5 = t_j_v;
+    profile.t6 = 0.0;
+    profile.t7 = t_j_v;
+    profile.v_cruise = v;
+    profile.a_limit = j * t_j_v;
+  } else {
+    // 能达到 a_max 和 v_max。
+    const double t_a = v / a - t_j_a;
+    const double s_half =
+      a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a + 0.5 * t_a * t_a);
+    const double s_min = 2.0 * s_half;
+
+    profile.t1 = t_j_a;
+    profile.t2 = t_a;
+    profile.t3 = t_j_a;
+    profile.t4 = std::max(0.0, (d - s_min) / v);
+    profile.t5 = t_j_a;
+    profile.t6 = t_a;
+    profile.t7 = t_j_a;
+    profile.v_cruise = v;
+    profile.a_limit = a;
+  }
+
+  profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
+                       profile.t5 + profile.t6 + profile.t7;
+}
+
+double SCurve::computeSegmentJerk(const SCurveProfile& profile, double t) const
+{
+  double j = profile.j_max * profile.direction;
+
+  // 判断所处阶段
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+  // double t_end7 = t_end6 + profile.t7;  // = total_time
+
+  if (t < t_end1) {
+    return j;  // 段 1：正加加速度（加速）
+  } else if (t < t_end2) {
+    return 0.0;  // 段 2：加加速度为 0（匀加速）
+  } else if (t < t_end3) {
+    return -j;  // 段 3：负加加速度（减小加速度）
+  } else if (t < t_end4) {
+    return 0.0;  // 段 4：加加速度为 0（巡航）
+  } else if (t < t_end5) {
+    return -j;  // 段 5：负加加速度（开始减速）
+  } else if (t < t_end6) {
+    return 0.0;  // 段 6：加加速度为 0（匀减速）
+  } else {
+    return j;  // 段 7：正加加速度（减速结束）
+  }
+}
+
+double SCurve::getPositionAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0) return profile.p0;
+  if (t >= profile.total_time) return profile.p0 + profile.distance * profile.direction;
+
+  double j = profile.j_max * profile.direction;
+  double p = profile.p0;
+  double v = profile.v0;
+  double a = profile.a0;
+
+  // 时间边界
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+
+  // 依次处理各阶段
+  auto processSegment = [&](double dt, double jerk) {
+    p += v * dt + 0.5 * a * dt * dt + (1.0/6.0) * jerk * dt * dt * dt;
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  // 段 1
+  if (t <= t_end1) {
+    processSegment(t, j);
+    return p;
+  }
+  processSegment(profile.t1, j);
+
+  // 段 2
+  if (t <= t_end2) {
+    processSegment(t - t_end1, 0.0);
+    return p;
+  }
+  processSegment(profile.t2, 0.0);
+
+  // 段 3
+  if (t <= t_end3) {
+    processSegment(t - t_end2, -j);
+    return p;
+  }
+  processSegment(profile.t3, -j);
+
+  // 段 4（巡航）
+  if (t <= t_end4) {
+    processSegment(t - t_end3, 0.0);
+    return p;
+  }
+  processSegment(profile.t4, 0.0);
+
+  // 段 5
+  if (t <= t_end5) {
+    processSegment(t - t_end4, -j);
+    return p;
+  }
+  processSegment(profile.t5, -j);
+
+  // 段 6
+  if (t <= t_end6) {
+    processSegment(t - t_end5, 0.0);
+    return p;
+  }
+  processSegment(profile.t6, 0.0);
+
+  // 段 7
+  processSegment(t - t_end6, j);
+  return p;
+}
+
+double SCurve::getVelocityAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0) return profile.v0;
+  if (t >= profile.total_time) return profile.vf;
+
+  double j = profile.j_max * profile.direction;
+  double v = profile.v0;
+  double a = profile.a0;
+
+  // 时间边界
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+
+  auto processSegment = [&](double dt, double jerk) {
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  if (t <= t_end1) {
+    v += a * t + 0.5 * j * t * t;
+    return v;
+  }
+  processSegment(profile.t1, j);
+
+  if (t <= t_end2) {
+    v += a * (t - t_end1);
+    return v;
+  }
+  processSegment(profile.t2, 0.0);
+
+  if (t <= t_end3) {
+    double dt = t - t_end2;
+    v += a * dt + 0.5 * (-j) * dt * dt;
+    return v;
+  }
+  processSegment(profile.t3, -j);
+
+  if (t <= t_end4) {
+    v += a * (t - t_end3);
+    return v;
+  }
+  processSegment(profile.t4, 0.0);
+
+  if (t <= t_end5) {
+    double dt = t - t_end4;
+    v += a * dt + 0.5 * (-j) * dt * dt;
+    return v;
+  }
+  processSegment(profile.t5, -j);
+
+  if (t <= t_end6) {
+    v += a * (t - t_end5);
+    return v;
+  }
+  processSegment(profile.t6, 0.0);
+
+  double dt = t - t_end6;
+  v += a * dt + 0.5 * j * dt * dt;
+  return v;
+}
+
+double SCurve::getAccelerationAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0 || t >= profile.total_time) return 0.0;
+
+  double j = profile.j_max * profile.direction;
+  double a = profile.a0;
+
+  // 时间边界
+  double t_end1 = profile.t1;
+  double t_end2 = t_end1 + profile.t2;
+  double t_end3 = t_end2 + profile.t3;
+  double t_end4 = t_end3 + profile.t4;
+  double t_end5 = t_end4 + profile.t5;
+  double t_end6 = t_end5 + profile.t6;
+
+  if (t <= t_end1) {
+    return a + j * t;
+  }
+  a += j * profile.t1;
+
+  if (t <= t_end2) {
+    return a;
+  }
+
+  if (t <= t_end3) {
+    return a + (-j) * (t - t_end2);
+  }
+  a += (-j) * profile.t3;
+
+  if (t <= t_end4) {
+    return a;  // Should be ~0
+  }
+
+  if (t <= t_end5) {
+    return a + (-j) * (t - t_end4);
+  }
+  a += (-j) * profile.t5;
+
+  if (t <= t_end6) {
+    return a;
+  }
+
+  return a + j * (t - t_end6);
+}
+
+double SCurve::getJerkAtTime(const SCurveProfile& profile, double t) const
+{
+  if (t <= 0.0 || t >= profile.total_time) {
+    return 0.0;
+  }
+  return computeSegmentJerk(profile, t);
+}
+
+void SCurve::generateTrajectory(const SCurveProfile& profile, double dt,
+                                          std::vector<double>& positions,
+                                          std::vector<double>& velocities,
+                                          std::vector<double>& accelerations) const
+{
+  positions.clear();
+  velocities.clear();
+  accelerations.clear();
+
+  if (profile.total_time <= 0 || dt <= 0) {
+    positions.push_back(profile.p0);
+    velocities.push_back(profile.v0);
+    accelerations.push_back(profile.a0);
+    return;
+  }
+
+  int num_points = static_cast<int>(std::ceil(profile.total_time / dt)) + 1;
+  positions.reserve(num_points);
+  velocities.reserve(num_points);
+  accelerations.reserve(num_points);
+
+  for (double t = 0; t <= profile.total_time; t += dt) {
+    positions.push_back(getPositionAtTime(profile, t));
+    velocities.push_back(getVelocityAtTime(profile, t));
+    accelerations.push_back(getAccelerationAtTime(profile, t));
+  }
+
+  // 确保包含最终点
+  if (positions.empty() ||
+      std::abs(positions.back() - (profile.p0 + profile.distance * profile.direction)) > EPSILON) {
+    positions.push_back(profile.p0 + profile.distance * profile.direction);
+    velocities.push_back(profile.vf);
+    accelerations.push_back(0.0);
+  }
+}
+
+}

applications/common/type/common_type.h

@@ -0,0 +1,9 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#ifndef RTTHREAD_COMMON_TYPE_H
+#define RTTHREAD_COMMON_TYPE_H
+#define PI (3.14159265358979323846)
+
+#endif //RTTHREAD_COMMON_TYPE_H

applications/common/type/servo_types.h

@@ -0,0 +1,15 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#ifndef RTTHREAD_SERVO_TYPES_H
+#define RTTHREAD_SERVO_TYPES_H
+
+enum class MotionMode
+{
+    Immediate,
+    SCurve,
+    Follow
+};
+
+#endif // RTTHREAD_SERVO_TYPES_H

applications/controller/SConscript

@@ -0,0 +1,10 @@
+from building import *
+import os
+
+cwd = GetCurrentDir()
+src = Glob('src/*.cpp')
+CPPPATH = [cwd]
+
+group = DefineGroup('controller', src, depend = [''], CPPPATH = CPPPATH)
+
+Return('group')

applications/controller/include/pid_controller.h

@@ -0,0 +1,68 @@
+//
+// Created by Administrator on 2026/1/16.
+//
+
+#ifndef RTTHREAD_PID_CONTROLLER_H
+#define RTTHREAD_PID_CONTROLLER_H
+
+
+
+
+
+class PidController
+{
+public:
+    PidController();
+
+    // 设置目标（通用 target）
+    void setTarget(double target);
+
+    // PID 增益
+    void setGains(double kp, double ki, double kd);
+
+    /// 设置积分上下限： lower <= I <= upper
+    /// 若 upper <= lower，则不启用积分限幅
+    void setIntegralLimits(double lower, double upper);
+
+    /// 设置误差死区： |error| < deadzone 时视为 0
+    void setDeadzone(double deadzone);
+
+    /// 设置 D 项滤波系数（简单一阶滤波）
+    /// coeff <= 0 表示不启用滤波
+    void setDerivativeFilterCoeff(double coeff);
+
+    /// 重置内部状态（积分/上一拍误差/滤波器）
+    void reset(double integral = 0.0, double prev_error = 0.0);
+
+    /// 核心：根据当前值计算控制量
+    double compute(double x, double dt);
+
+private:
+    // gains
+    double kp_;
+    double ki_;
+    double kd_;
+
+    // target
+    double target_;
+
+    // state
+    double integralError_;
+    double prevError_;
+
+    // integral clamp
+    double iLower_;
+    double iUpper_;
+
+    // deadzone
+    double deadzone_;
+
+    // derivative filter
+    double dFilterCoeff_;
+    double dErrorFiltered_;
+
+    bool initialized_;
+};
+
+
+#endif //RTTHREAD_PID_CONTROLLER_H

applications/controller/src/pid_controller.cpp

@@ -0,0 +1,96 @@
+//
+// Created by Administrator on 2026/1/16.
+//
+
+#include "controller/include/pid_controller.h"
+
+#include <algorithm>
+#include <cmath>
+PidController::PidController()
+    : kp_(0.0),
+      ki_(0.0),
+      kd_(0.0),
+      target_(0.0),
+      integralError_(0.0),
+      prevError_(0.0),
+      iLower_(0.0),
+      iUpper_(0.0),
+      deadzone_(0.0),
+      dFilterCoeff_(0.0),
+      dErrorFiltered_(0.0),
+      initialized_(false) {}
+
+void PidController::setTarget(double target) {
+    target_ = target;
+}
+
+void PidController::setGains(double kp, double ki, double kd) {
+    kp_ = kp;
+    ki_ = ki;
+    kd_ = kd;
+}
+
+void PidController::setIntegralLimits(double lower, double upper) {
+    iLower_ = lower;
+    iUpper_ = upper;
+}
+
+void PidController::setDeadzone(double deadzone) {
+    deadzone_ = std::max(0.0, deadzone);
+}
+
+void PidController::setDerivativeFilterCoeff(double coeff) {
+    dFilterCoeff_ = coeff;
+    if (dFilterCoeff_ <= 0.0) {
+        dErrorFiltered_ = 0.0;
+    }
+}
+
+void PidController::reset(double integral, double prev_error) {
+    integralError_ = integral;
+    prevError_ = prev_error;
+    dErrorFiltered_ = 0.0;
+    initialized_ = false;
+}
+
+double PidController::compute(double x, double dt) {
+    if (dt <= 0.0) return 0.0;
+
+    // 误差：target - current
+    double error = target_ - x;
+    if (std::abs(error) < deadzone_) error = 0.0;
+
+    // 第一次调用时初始化 prevError，避免 dError 突刺
+    if (!initialized_) {
+        prevError_ = error;
+        initialized_ = true;
+    }
+
+    // 积分
+    integralError_ += error * dt;
+
+    // 积分限幅（若启用）
+    if (iUpper_ > iLower_) {
+        integralError_ = std::clamp(integralError_, iLower_, iUpper_);
+    }
+
+    // 微分：对误差微分
+    const double dError = (error - prevError_) / dt;
+
+    // 一阶滤波：y = y + a*(x - y)，a = coeff*dt (夹到[0,1])
+    if (dFilterCoeff_ > 0.0) {
+        const double a = std::clamp(dFilterCoeff_ * dt, 0.0, 1.0);
+        dErrorFiltered_ = dErrorFiltered_ + a * (dError - dErrorFiltered_);
+    } else {
+        dErrorFiltered_ = dError;
+    }
+
+    prevError_ = error;
+
+    const double p = kp_ * error;
+    const double i = ki_ * integralError_;
+    const double d = kd_ * dErrorFiltered_;
+
+    return p + i + d;
+}
+

applications/erpc/SConscript

@@ -22,13 +22,19 @@ if GetDepend(['ERPC_MODE_CLIENT']):
 gen_dir = p('proto', 'generated')
 
 # interface 建议始终编译（两端都可能需要）
-src += [p('proto', 'generated', 'head_service_interface.cpp')]
+src += [p('proto', 'generated', 'servo_service_interface.cpp')]
+if os.path.exists(p('proto', 'generated', 'file_service_interface.cpp')):
+    src += [p('proto', 'generated', 'file_service_interface.cpp')]
 src += [p('common', 'src', 'erpc_error_handler.cpp')]
 if GetDepend(['ERPC_MODE_SERVER']):
-    src += [p('proto', 'generated', 'head_service_server.cpp')]
+    src += [p('proto', 'generated', 'servo_service_server.cpp')]
+    if os.path.exists(p('proto', 'generated', 'file_service_server.cpp')):
+        src += [p('proto', 'generated', 'file_service_server.cpp')]
 
 if GetDepend(['ERPC_MODE_CLIENT']):
-    src += [p('proto', 'generated', 'head_service_client.cpp')]
+    src += [p('proto', 'generated', 'servo_service_client.cpp')]
+    if os.path.exists(p('proto', 'generated', 'file_service_client.cpp')):
+        src += [p('proto', 'generated', 'file_service_client.cpp')]
 
 CPPPATH = [
     cwd,

applications/erpc/proto/file_service.erpc

@@ -0,0 +1,39 @@
+// file_service.erpc
+program file_service
+
+@id(2)
+interface file_service
+{
+    /**
+     * @brief 开始一次文件上传会话。
+     * @param path 目标文件路径；服务端会先写入 "<path>.part" 临时文件。
+     * @param total_size 本次上传的文件总字节数，用于服务端校验最终大小。
+     * @return RT_EOK 表示成功；负数表示 RT-Thread/POSIX 错误码。
+     */
+    fileWriteBegin(string path, uint32 total_size) -> int32
+
+    /**
+     * @brief 写入一个文件分块。
+     * @param data 当前分块的二进制内容；dataLength 是分块字节数，data 是分块数据指针。
+     * @return RT_EOK 表示成功；负数表示 RT-Thread/POSIX 错误码。
+     *
+     * @note 单个分块会被封装进一次 eRPC 消息，最大可用长度受 ERPC_DEFAULT_BUFFER_SIZE 限制。
+     */
+    fileWriteChunk(binary data) -> int32
+
+    /**
+     * @brief 完成上传会话。
+     * @return RT_EOK 表示成功；负数表示 RT-Thread/POSIX 错误码。
+     *
+     * @note 服务端会先校验已接收字节数是否等于 total_size，然后把临时文件重命名为目标文件。
+     */
+    fileWriteEnd() -> int32
+
+    /**
+     * @brief 取消当前上传会话。
+     * @return RT_EOK 表示成功；负数表示 RT-Thread/POSIX 错误码。
+     *
+     * @note 服务端会关闭当前文件并删除残留的 ".part" 临时文件。
+     */
+    fileWriteAbort() -> int32
+}

applications/erpc/proto/generated/c_file_service_client.cpp

@@ -0,0 +1,77 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "c_file_service_client.h"
+#include "file_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+file_service_client *s_file_service_client = nullptr;
+#else
+ERPC_MANUALLY_CONSTRUCTED_STATIC(file_service_client, s_file_service_client);
+#endif
+
+int32_t fileWriteBegin(const char * path, uint32_t total_size)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteBegin(path, total_size);
+
+    return result;
+}
+
+int32_t fileWriteChunk(const binary_t * data)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteChunk(data);
+
+    return result;
+}
+
+int32_t fileWriteEnd(void)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteEnd();
+
+    return result;
+}
+
+int32_t fileWriteAbort(void)
+{
+    int32_t result;
+    result = s_file_service_client->fileWriteAbort();
+
+    return result;
+}
+
+void initfile_service_client(erpc_client_t client)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    erpc_assert(s_file_service_client == nullptr);
+    s_file_service_client = new file_service_client(reinterpret_cast<ClientManager *>(client));
+#else
+    erpc_assert(!s_file_service_client.isUsed());
+    s_file_service_client.construct(reinterpret_cast<ClientManager *>(client));
+#endif
+}
+
+void deinitfile_service_client(void)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (s_file_service_client != nullptr)
+    {
+        delete s_file_service_client;
+        s_file_service_client = nullptr;
+    }
+#else
+    s_file_service_client.destroy();
+#endif
+}

applications/erpc/proto/generated/c_file_service_client.h

@@ -0,0 +1,54 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_file_service_client_h_)
+#define _c_file_service_client_h_
+
+#include "file_service_common.h"
+#include "erpc_client_manager.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief file_service identifiers */
+enum _file_service_ids
+{
+    kfile_service_service_id = 2,
+    kfile_service_fileWriteBegin_id = 1,
+    kfile_service_fileWriteChunk_id = 2,
+    kfile_service_fileWriteEnd_id = 3,
+    kfile_service_fileWriteAbort_id = 4,
+};
+
+//! @name file_service
+//@{
+int32_t fileWriteBegin(const char * path, uint32_t total_size);
+
+int32_t fileWriteChunk(const binary_t * data);
+
+int32_t fileWriteEnd(void);
+
+int32_t fileWriteAbort(void);
+//@}
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+void initfile_service_client(erpc_client_t client);
+
+void deinitfile_service_client(void);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_file_service_client_h_

applications/erpc/proto/generated/c_file_service_server.cpp

@@ -0,0 +1,97 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include <new>
+#include "c_file_service_server.h"
+#include "file_service_server.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+class file_service_server: public file_service_interface
+{
+    public:
+        virtual ~file_service_server() {};
+
+
+        int32_t fileWriteBegin(const char * path, uint32_t total_size)
+        {
+            int32_t result;
+            result = ::fileWriteBegin(path, total_size);
+
+            return result;
+        }
+
+        int32_t fileWriteChunk(const binary_t * data)
+        {
+            int32_t result;
+            result = ::fileWriteChunk(data);
+
+            return result;
+        }
+
+        int32_t fileWriteEnd(void)
+        {
+            int32_t result;
+            result = ::fileWriteEnd();
+
+            return result;
+        }
+
+        int32_t fileWriteAbort(void)
+        {
+            int32_t result;
+            result = ::fileWriteAbort();
+
+            return result;
+        }
+};
+
+ERPC_MANUALLY_CONSTRUCTED_STATIC(file_service_service, s_file_service_service);
+ERPC_MANUALLY_CONSTRUCTED_STATIC(file_service_server, s_file_service_server);
+
+erpc_service_t create_file_service_service(void)
+{
+    erpc_service_t service;
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    service = new (nothrow) file_service_service(new (nothrow)file_service_server());
+#else
+    if (s_file_service_service.isUsed())
+    {
+        service = NULL;
+    }
+    else
+    {
+        s_file_service_server.construct();
+        s_file_service_service.construct(s_file_service_server.get());
+        service = s_file_service_service.get();
+    }
+#endif
+
+    return service;
+}
+
+void destroy_file_service_service(erpc_service_t service)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (service)
+    {
+        delete (file_service_server *)(((file_service_service *)service)->getHandler());
+        delete (file_service_service *)service;
+    }
+#else
+    (void)service;
+    erpc_assert(service == s_file_service_service.get());
+    s_file_service_service.destroy();
+    s_file_service_server.destroy();
+#endif
+}
+

applications/erpc/proto/generated/c_file_service_server.h

@@ -0,0 +1,59 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_file_service_server_h_)
+#define _c_file_service_server_h_
+
+#include "file_service_common.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+typedef void * erpc_service_t;
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief file_service identifiers */
+enum _file_service_ids
+{
+    kfile_service_service_id = 2,
+    kfile_service_fileWriteBegin_id = 1,
+    kfile_service_fileWriteChunk_id = 2,
+    kfile_service_fileWriteEnd_id = 3,
+    kfile_service_fileWriteAbort_id = 4,
+};
+
+//! @name file_service
+//@{
+int32_t fileWriteBegin(const char * path, uint32_t total_size);
+
+int32_t fileWriteChunk(const binary_t * data);
+
+int32_t fileWriteEnd(void);
+
+int32_t fileWriteAbort(void);
+//@}
+
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+/*! @brief Return file_service_service service object. */
+erpc_service_t create_file_service_service(void);
+
+/*! @brief Destroy file_service_service service object. */
+void destroy_file_service_service(erpc_service_t service);
+
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_file_service_server_h_

applications/erpc/proto/generated/c_head_service_client.cpp

@@ -1,53 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#include "c_head_service_client.h"
-#include "head_service_client.hpp"
-#include "erpc_manually_constructed.hpp"
-
-using namespace erpc;
-using namespace std;
-using namespace erpcShim;
-
-
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-demo_client *s_demo_client = nullptr;
-#else
-ERPC_MANUALLY_CONSTRUCTED_STATIC(demo_client, s_demo_client);
-#endif
-
-int32_t add(int32_t a, int32_t b)
-{
-    int32_t result;
-    result = s_demo_client->add(a, b);
-
-    return result;
-}
-
-void initdemo_client(erpc_client_t client)
-{
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-    erpc_assert(s_demo_client == nullptr);
-    s_demo_client = new demo_client(reinterpret_cast<ClientManager *>(client));
-#else
-    erpc_assert(!s_demo_client.isUsed());
-    s_demo_client.construct(reinterpret_cast<ClientManager *>(client));
-#endif
-}
-
-void deinitdemo_client(void)
-{
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-    if (s_demo_client != nullptr)
-    {
-        delete s_demo_client;
-        s_demo_client = nullptr;
-    }
-#else
-    s_demo_client.destroy();
-#endif
-}

applications/erpc/proto/generated/c_head_service_client.h

@@ -1,45 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_c_head_service_client_h_)
-#define _c_head_service_client_h_
-
-#include "head_service_common.h"
-#include "erpc_client_manager.h"
-
-#if defined(__cplusplus)
-extern "C"
-{
-#endif
-
-#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
-#define ERPC_FUNCTIONS_DEFINITIONS
-
-
-/*! @brief demo identifiers */
-enum _demo_ids
-{
-    kdemo_service_id = 1,
-    kdemo_add_id = 1,
-};
-
-//! @name demo
-//@{
-int32_t add(int32_t a, int32_t b);
-//@}
-
-#endif // ERPC_FUNCTIONS_DEFINITIONS
-
-void initdemo_client(erpc_client_t client);
-
-void deinitdemo_client(void);
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // _c_head_service_client_h_

applications/erpc/proto/generated/c_head_service_server.cpp

@@ -1,73 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#include <new>
-#include "c_head_service_server.h"
-#include "head_service_server.hpp"
-#include "erpc_manually_constructed.hpp"
-
-using namespace erpc;
-using namespace std;
-using namespace erpcShim;
-
-
-class demo_server: public demo_interface
-{
-    public:
-        virtual ~demo_server() {};
-
-
-        int32_t add(int32_t a, int32_t b)
-        {
-            int32_t result;
-            result = ::add(a, b);
-
-            return result;
-        }
-};
-
-ERPC_MANUALLY_CONSTRUCTED_STATIC(demo_service, s_demo_service);
-ERPC_MANUALLY_CONSTRUCTED_STATIC(demo_server, s_demo_server);
-
-erpc_service_t create_demo_service(void)
-{
-    erpc_service_t service;
-
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-    service = new (nothrow) demo_service(new (nothrow)demo_server());
-#else
-    if (s_demo_service.isUsed())
-    {
-        service = NULL;
-    }
-    else
-    {
-        s_demo_server.construct();
-        s_demo_service.construct(s_demo_server.get());
-        service = s_demo_service.get();
-    }
-#endif
-
-    return service;
-}
-
-void destroy_demo_service(erpc_service_t service)
-{
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-    if (service)
-    {
-        delete (demo_server *)(((demo_service *)service)->getHandler());
-        delete (demo_service *)service;
-    }
-#else
-    (void)service;
-    erpc_assert(service == s_demo_service.get());
-    s_demo_service.destroy();
-    s_demo_server.destroy();
-#endif
-}
-

applications/erpc/proto/generated/c_head_service_server.h

@@ -1,50 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_c_head_service_server_h_)
-#define _c_head_service_server_h_
-
-#include "head_service_common.h"
-
-#if defined(__cplusplus)
-extern "C"
-{
-#endif
-
-typedef void * erpc_service_t;
-
-#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
-#define ERPC_FUNCTIONS_DEFINITIONS
-
-
-/*! @brief demo identifiers */
-enum _demo_ids
-{
-    kdemo_service_id = 1,
-    kdemo_add_id = 1,
-};
-
-//! @name demo
-//@{
-int32_t add(int32_t a, int32_t b);
-//@}
-
-
-#endif // ERPC_FUNCTIONS_DEFINITIONS
-
-/*! @brief Return demo_service service object. */
-erpc_service_t create_demo_service(void);
-
-/*! @brief Destroy demo_service service object. */
-void destroy_demo_service(erpc_service_t service);
-
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // _c_head_service_server_h_

applications/erpc/proto/generated/c_servo_service_client.cpp

@@ -0,0 +1,93 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "c_servo_service_client.h"
+#include "servo_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+servo_service_client *s_servo_service_client = nullptr;
+#else
+ERPC_MANUALLY_CONSTRUCTED_STATIC(servo_service_client, s_servo_service_client);
+#endif
+
+bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
+{
+    bool result;
+    result = s_servo_service_client->setConstraints(id, max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+
+    return result;
+}
+
+bool setPositionGain(const char * id, float position_gain)
+{
+    bool result;
+    result = s_servo_service_client->setPositionGain(id, position_gain);
+
+    return result;
+}
+
+bool setMode(RpcMotionMode mode)
+{
+    bool result;
+    result = s_servo_service_client->setMode(mode);
+
+    return result;
+}
+
+bool setUpdatePeriodMs(uint32_t ms)
+{
+    bool result;
+    result = s_servo_service_client->setUpdatePeriodMs(ms);
+
+    return result;
+}
+
+int32_t move(const list_ServoCmd_1_t * cmds)
+{
+    int32_t result;
+    result = s_servo_service_client->move(cmds);
+
+    return result;
+}
+
+int32_t moveJ(const list_float_1_t * angles_rad)
+{
+    int32_t result;
+    result = s_servo_service_client->moveJ(angles_rad);
+
+    return result;
+}
+
+void initservo_service_client(erpc_client_t client)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    erpc_assert(s_servo_service_client == nullptr);
+    s_servo_service_client = new servo_service_client(reinterpret_cast<ClientManager *>(client));
+#else
+    erpc_assert(!s_servo_service_client.isUsed());
+    s_servo_service_client.construct(reinterpret_cast<ClientManager *>(client));
+#endif
+}
+
+void deinitservo_service_client(void)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (s_servo_service_client != nullptr)
+    {
+        delete s_servo_service_client;
+        s_servo_service_client = nullptr;
+    }
+#else
+    s_servo_service_client.destroy();
+#endif
+}

applications/erpc/proto/generated/c_servo_service_client.h

@@ -0,0 +1,60 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_servo_service_client_h_)
+#define _c_servo_service_client_h_
+
+#include "servo_service_common.h"
+#include "erpc_client_manager.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief servo_service identifiers */
+enum _servo_service_ids
+{
+    kservo_service_service_id = 1,
+    kservo_service_setConstraints_id = 1,
+    kservo_service_setPositionGain_id = 2,
+    kservo_service_setMode_id = 3,
+    kservo_service_setUpdatePeriodMs_id = 4,
+    kservo_service_move_id = 5,
+    kservo_service_moveJ_id = 6,
+};
+
+//! @name servo_service
+//@{
+bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
+
+bool setPositionGain(const char * id, float position_gain);
+
+bool setMode(RpcMotionMode mode);
+
+bool setUpdatePeriodMs(uint32_t ms);
+
+int32_t move(const list_ServoCmd_1_t * cmds);
+
+int32_t moveJ(const list_float_1_t * angles_rad);
+//@}
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+void initservo_service_client(erpc_client_t client);
+
+void deinitservo_service_client(void);
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_servo_service_client_h_

applications/erpc/proto/generated/c_servo_service_server.cpp

@@ -0,0 +1,113 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include <new>
+#include "c_servo_service_server.h"
+#include "servo_service_server.hpp"
+#include "erpc_manually_constructed.hpp"
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+
+class servo_service_server: public servo_service_interface
+{
+    public:
+        virtual ~servo_service_server() {};
+
+
+        bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
+        {
+            bool result;
+            result = ::setConstraints(id, max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+
+            return result;
+        }
+
+        bool setPositionGain(const char * id, float position_gain)
+        {
+            bool result;
+            result = ::setPositionGain(id, position_gain);
+
+            return result;
+        }
+
+        bool setMode(RpcMotionMode mode)
+        {
+            bool result;
+            result = ::setMode(mode);
+
+            return result;
+        }
+
+        bool setUpdatePeriodMs(uint32_t ms)
+        {
+            bool result;
+            result = ::setUpdatePeriodMs(ms);
+
+            return result;
+        }
+
+        int32_t move(const list_ServoCmd_1_t * cmds)
+        {
+            int32_t result;
+            result = ::move(cmds);
+
+            return result;
+        }
+
+        int32_t moveJ(const list_float_1_t * angles_rad)
+        {
+            int32_t result;
+            result = ::moveJ(angles_rad);
+
+            return result;
+        }
+};
+
+ERPC_MANUALLY_CONSTRUCTED_STATIC(servo_service_service, s_servo_service_service);
+ERPC_MANUALLY_CONSTRUCTED_STATIC(servo_service_server, s_servo_service_server);
+
+erpc_service_t create_servo_service_service(void)
+{
+    erpc_service_t service;
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    service = new (nothrow) servo_service_service(new (nothrow)servo_service_server());
+#else
+    if (s_servo_service_service.isUsed())
+    {
+        service = NULL;
+    }
+    else
+    {
+        s_servo_service_server.construct();
+        s_servo_service_service.construct(s_servo_service_server.get());
+        service = s_servo_service_service.get();
+    }
+#endif
+
+    return service;
+}
+
+void destroy_servo_service_service(erpc_service_t service)
+{
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+    if (service)
+    {
+        delete (servo_service_server *)(((servo_service_service *)service)->getHandler());
+        delete (servo_service_service *)service;
+    }
+#else
+    (void)service;
+    erpc_assert(service == s_servo_service_service.get());
+    s_servo_service_service.destroy();
+    s_servo_service_server.destroy();
+#endif
+}
+

applications/erpc/proto/generated/c_servo_service_server.h

@@ -0,0 +1,65 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_c_servo_service_server_h_)
+#define _c_servo_service_server_h_
+
+#include "servo_service_common.h"
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+
+typedef void * erpc_service_t;
+
+#if !defined(ERPC_FUNCTIONS_DEFINITIONS)
+#define ERPC_FUNCTIONS_DEFINITIONS
+
+
+/*! @brief servo_service identifiers */
+enum _servo_service_ids
+{
+    kservo_service_service_id = 1,
+    kservo_service_setConstraints_id = 1,
+    kservo_service_setPositionGain_id = 2,
+    kservo_service_setMode_id = 3,
+    kservo_service_setUpdatePeriodMs_id = 4,
+    kservo_service_move_id = 5,
+    kservo_service_moveJ_id = 6,
+};
+
+//! @name servo_service
+//@{
+bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
+
+bool setPositionGain(const char * id, float position_gain);
+
+bool setMode(RpcMotionMode mode);
+
+bool setUpdatePeriodMs(uint32_t ms);
+
+int32_t move(const list_ServoCmd_1_t * cmds);
+
+int32_t moveJ(const list_float_1_t * angles_rad);
+//@}
+
+
+#endif // ERPC_FUNCTIONS_DEFINITIONS
+
+/*! @brief Return servo_service_service service object. */
+erpc_service_t create_servo_service_service(void);
+
+/*! @brief Destroy servo_service_service service object. */
+void destroy_servo_service_service(erpc_service_t service);
+
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _c_servo_service_server_h_

applications/erpc/proto/generated/file_service_client.cpp

@@ -0,0 +1,302 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include "erpc_port.h"
+#endif
+#include "erpc_codec.hpp"
+#include "file_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+//! @brief Function to write struct binary_t
+static void write_binary_t_struct(erpc::Codec * codec, const binary_t * data);
+
+
+// Write struct binary_t function implementation
+static void write_binary_t_struct(erpc::Codec * codec, const binary_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->writeBinary(data->dataLength, data->data);
+}
+
+
+
+
+file_service_client::file_service_client(ClientManager *manager)
+:m_clientManager(manager)
+{
+}
+
+file_service_client::~file_service_client()
+{
+}
+
+// file_service interface fileWriteBegin function client shim.
+int32_t file_service_client::fileWriteBegin(const char * path, uint32_t total_size)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteBeginId, request.getSequence());
+
+        {
+            uint32_t path_len = strlen((const char*)path);
+
+            codec->writeString(path_len, (const char*)path);
+        }
+
+        codec->write(total_size);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteBeginId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// file_service interface fileWriteChunk function client shim.
+int32_t file_service_client::fileWriteChunk(const binary_t * data)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteChunkId, request.getSequence());
+
+        write_binary_t_struct(codec, data);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteChunkId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// file_service interface fileWriteEnd function client shim.
+int32_t file_service_client::fileWriteEnd(void)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteEndId, request.getSequence());
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteEndId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// file_service interface fileWriteAbort function client shim.
+int32_t file_service_client::fileWriteAbort(void)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_fileWriteAbortId, request.getSequence());
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_fileWriteAbortId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}

applications/erpc/proto/generated/file_service_client.hpp

@@ -0,0 +1,40 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_client_hpp_)
+#define _file_service_client_hpp_
+
+#include "file_service_interface.hpp"
+
+#include "erpc_client_manager.h"
+
+namespace erpcShim
+{
+
+class file_service_client: public file_service_interface
+{
+    public:
+        file_service_client(erpc::ClientManager *manager);
+
+        virtual ~file_service_client();
+
+        virtual int32_t fileWriteBegin(const char * path, uint32_t total_size);
+
+        virtual int32_t fileWriteChunk(const binary_t * data);
+
+        virtual int32_t fileWriteEnd(void);
+
+        virtual int32_t fileWriteAbort(void);
+
+    protected:
+        erpc::ClientManager *m_clientManager;
+};
+
+} // erpcShim
+
+
+#endif // _file_service_client_hpp_

applications/erpc/proto/generated/file_service_common.h

@@ -0,0 +1,47 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_common_h_)
+#define _file_service_common_h_
+
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_FILE_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+// Aliases data types declarations
+typedef struct binary_t binary_t;
+
+// Structures/unions data types declarations
+struct binary_t
+{
+    uint8_t * data;
+    uint32_t dataLength;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _file_service_common_h_

applications/erpc/proto/generated/file_service_common.hpp

@@ -0,0 +1,39 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_common_hpp_)
+#define _file_service_common_hpp_
+
+
+#include <cstddef>
+#include <cstdint>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_FILE_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+// Aliases data types declarations
+typedef struct binary_t binary_t;
+
+// Structures/unions data types declarations
+struct binary_t
+{
+    uint8_t * data;
+    uint32_t dataLength;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_FILE_SERVICE
+
+
+#endif // _file_service_common_hpp_

applications/erpc/proto/generated/file_service_interface.cpp

@@ -1,11 +1,11 @@
 /*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
  *
  * AUTOGENERATED - DO NOT EDIT
  */
 
 
-#include "head_service_interface.hpp"
+#include "file_service_interface.hpp"
 
 #if 11400 != ERPC_VERSION_NUMBER
 #error "The generated shim code version is different to the rest of eRPC code."
@@ -15,6 +15,6 @@
 using namespace std;
 using namespace erpcShim;
 
-demo_interface::~demo_interface(void)
+file_service_interface::~file_service_interface(void)
 {
 }

applications/erpc/proto/generated/file_service_interface.hpp

@@ -0,0 +1,41 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_interface_hpp_)
+#define _file_service_interface_hpp_
+
+#include "file_service_common.hpp"
+
+namespace erpcShim
+{
+
+
+// Abstract base class for file_service
+class file_service_interface
+{
+    public:
+        static const uint8_t m_serviceId = 2;
+        static const uint8_t m_fileWriteBeginId = 1;
+        static const uint8_t m_fileWriteChunkId = 2;
+        static const uint8_t m_fileWriteEndId = 3;
+        static const uint8_t m_fileWriteAbortId = 4;
+
+        virtual ~file_service_interface(void);
+
+        virtual int32_t fileWriteBegin(const char * path, uint32_t total_size) = 0;
+
+        virtual int32_t fileWriteChunk(const binary_t * data) = 0;
+
+        virtual int32_t fileWriteEnd(void) = 0;
+
+        virtual int32_t fileWriteAbort(void) = 0;
+private:
+};
+} // erpcShim
+
+
+#endif // _file_service_interface_hpp_

applications/erpc/proto/generated/file_service_server.cpp

@@ -0,0 +1,327 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "file_service_server.hpp"
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include <new>
+#include "erpc_port.h"
+#endif
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+#if ERPC_NESTED_CALLS_DETECTION
+extern bool nestingDetection;
+#endif
+
+
+//! @brief Function to read struct binary_t
+static void read_binary_t_struct(erpc::Codec * codec, binary_t * data);
+
+
+// Read struct binary_t function implementation
+static void read_binary_t_struct(erpc::Codec * codec, binary_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    uint8_t * data_local;
+    codec->readBinary(data->dataLength, &data_local);
+    if (data->dataLength > 0)
+    {
+    data->data = (uint8_t *) erpc_malloc(data->dataLength * sizeof(uint8_t));
+        if (data->data == NULL)
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(data->data, data_local, data->dataLength);
+        }
+    }
+    else
+    {
+        data->data = NULL;
+    }
+}
+
+
+//! @brief Function to free space allocated inside struct binary_t
+static void free_binary_t_struct(binary_t * data);
+
+
+// Free space allocated inside struct binary_t function implementation
+static void free_binary_t_struct(binary_t * data)
+{
+    erpc_free(data->data);
+}
+
+
+
+file_service_service::file_service_service(file_service_interface *_file_service_interface)
+    : erpc::Service(file_service_interface::m_serviceId)
+    , m_handler(_file_service_interface)
+{
+}
+
+file_service_service::~file_service_service()
+{
+}
+
+// return service interface handler.
+file_service_interface* file_service_service::getHandler(void)
+{
+    return m_handler;
+}
+
+// Call the correct server shim based on method unique ID.
+erpc_status_t file_service_service::handleInvocation(uint32_t methodId, uint32_t sequence, Codec * codec, MessageBufferFactory *messageFactory, Transport * transport)
+{
+    erpc_status_t erpcStatus;
+    switch (methodId)
+    {
+        case file_service_interface::m_fileWriteBeginId:
+        {
+            erpcStatus = fileWriteBegin_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case file_service_interface::m_fileWriteChunkId:
+        {
+            erpcStatus = fileWriteChunk_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case file_service_interface::m_fileWriteEndId:
+        {
+            erpcStatus = fileWriteEnd_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case file_service_interface::m_fileWriteAbortId:
+        {
+            erpcStatus = fileWriteAbort_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        default:
+        {
+            erpcStatus = kErpcStatus_InvalidArgument;
+            break;
+        }
+    }
+
+    return erpcStatus;
+}
+
+// Server shim for fileWriteBegin of file_service interface.
+erpc_status_t file_service_service::fileWriteBegin_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    char * path = NULL;
+    uint32_t total_size;
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    {
+        uint32_t path_len;
+        char * path_local;
+        codec->readString(path_len, &path_local);
+        path = (char*) erpc_malloc((path_len + 1) * sizeof(char));
+        if ((path == NULL) || (path_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(path, path_local, path_len);
+            (path)[path_len] = 0;
+        }
+    }
+
+    codec->read(total_size);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteBegin(path, total_size);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteBeginId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    erpc_free(path);
+
+    return err;
+}
+
+// Server shim for fileWriteChunk of file_service interface.
+erpc_status_t file_service_service::fileWriteChunk_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    binary_t *data = NULL;
+    data = (binary_t *) erpc_malloc(sizeof(binary_t));
+    if (data == NULL)
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    read_binary_t_struct(codec, data);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteChunk(data);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteChunkId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    if (data)
+    {
+        free_binary_t_struct(data);
+    }
+    erpc_free(data);
+
+    return err;
+}
+
+// Server shim for fileWriteEnd of file_service interface.
+erpc_status_t file_service_service::fileWriteEnd_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteEnd();
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteEndId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}
+
+// Server shim for fileWriteAbort of file_service interface.
+erpc_status_t file_service_service::fileWriteAbort_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->fileWriteAbort();
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, file_service_interface::m_serviceId, file_service_interface::m_fileWriteAbortId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}

applications/erpc/proto/generated/file_service_server.hpp

@@ -0,0 +1,58 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 12:01:23 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_file_service_server_hpp_)
+#define _file_service_server_hpp_
+
+#include "file_service_interface.hpp"
+
+#include "erpc_server.hpp"
+#include "erpc_codec.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+namespace erpcShim
+{
+
+/*!
+ * @brief Service subclass for file_service.
+ */
+class file_service_service : public erpc::Service
+{
+public:
+    file_service_service(file_service_interface *_file_service_interface);
+
+    virtual ~file_service_service();
+
+    /*! @brief return service interface handler. */
+    file_service_interface* getHandler(void);
+
+    /*! @brief Call the correct server shim based on method unique ID. */
+    virtual erpc_status_t handleInvocation(uint32_t methodId, uint32_t sequence, erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport);
+
+private:
+    file_service_interface *m_handler;
+    /*! @brief Server shim for fileWriteBegin of file_service interface. */
+    erpc_status_t fileWriteBegin_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for fileWriteChunk of file_service interface. */
+    erpc_status_t fileWriteChunk_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for fileWriteEnd of file_service interface. */
+    erpc_status_t fileWriteEnd_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for fileWriteAbort of file_service interface. */
+    erpc_status_t fileWriteAbort_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+};
+
+} // erpcShim
+
+
+#endif // _file_service_server_hpp_

applications/erpc/proto/generated/head_service_client.cpp

@@ -1,97 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-#include "erpc_port.h"
-#endif
-#include "erpc_codec.hpp"
-#include "head_service_client.hpp"
-#include "erpc_manually_constructed.hpp"
-
-#if 11400 != ERPC_VERSION_NUMBER
-#error "The generated shim code version is different to the rest of eRPC code."
-#endif
-
-using namespace erpc;
-using namespace std;
-using namespace erpcShim;
-
-
-
-demo_client::demo_client(ClientManager *manager)
-:m_clientManager(manager)
-{
-}
-
-demo_client::~demo_client()
-{
-}
-
-// demo interface add function client shim.
-int32_t demo_client::add(int32_t a, int32_t b)
-{
-    erpc_status_t err = kErpcStatus_Success;
-
-    int32_t result;
-
-#if ERPC_PRE_POST_ACTION
-    pre_post_action_cb preCB = m_clientManager->getPreCB();
-    if (preCB)
-    {
-        preCB();
-    }
-#endif
-
-    // Get a new request.
-    RequestContext request = m_clientManager->createRequest(false);
-
-    // Encode the request.
-    Codec * codec = request.getCodec();
-
-    if (codec == NULL)
-    {
-        err = kErpcStatus_MemoryError;
-    }
-    else
-    {
-        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_addId, request.getSequence());
-
-        codec->write(a);
-
-        codec->write(b);
-
-        // Send message to server
-        // Codec status is checked inside this function.
-        m_clientManager->performRequest(request);
-
-        codec->read(result);
-
-        err = codec->getStatus();
-    }
-
-    // Dispose of the request.
-    m_clientManager->releaseRequest(request);
-
-    // Invoke error handler callback function
-    m_clientManager->callErrorHandler(err, m_addId);
-
-#if ERPC_PRE_POST_ACTION
-    pre_post_action_cb postCB = m_clientManager->getPostCB();
-    if (postCB)
-    {
-        postCB();
-    }
-#endif
-
-
-    if (err != kErpcStatus_Success)
-    {
-        result = -1;
-    }
-
-    return result;
-}

applications/erpc/proto/generated/head_service_client.hpp

@@ -1,34 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_head_service_client_hpp_)
-#define _head_service_client_hpp_
-
-#include "head_service_interface.hpp"
-
-#include "erpc_client_manager.h"
-
-namespace erpcShim
-{
-
-class demo_client: public demo_interface
-{
-    public:
-        demo_client(erpc::ClientManager *manager);
-
-        virtual ~demo_client();
-
-        virtual int32_t add(int32_t a, int32_t b);
-
-    protected:
-        erpc::ClientManager *m_clientManager;
-};
-
-} // erpcShim
-
-
-#endif // _head_service_client_hpp_

applications/erpc/proto/generated/head_service_common.h

@@ -1,36 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_head_service_common_h_)
-#define _head_service_common_h_
-
-
-#if defined(__cplusplus)
-extern "C"
-{
-#endif
-#include <stdbool.h>
-#include <stddef.h>
-#include <stdint.h>
-
-#include "erpc_version.h"
-
-#if 11400 != ERPC_VERSION_NUMBER
-#error "The generated shim code version is different to the rest of eRPC code."
-#endif
-
-
-#if !defined(ERPC_TYPE_DEFINITIONS_ERPCSHIM)
-#define ERPC_TYPE_DEFINITIONS_ERPCSHIM
-
-#endif // ERPC_TYPE_DEFINITIONS_ERPCSHIM
-
-#if defined(__cplusplus)
-}
-#endif
-
-#endif // _head_service_common_h_

applications/erpc/proto/generated/head_service_common.hpp

@@ -1,28 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_head_service_common_hpp_)
-#define _head_service_common_hpp_
-
-
-#include <cstddef>
-#include <cstdint>
-
-#include "erpc_version.h"
-
-#if 11400 != ERPC_VERSION_NUMBER
-#error "The generated shim code version is different to the rest of eRPC code."
-#endif
-
-
-#if !defined(ERPC_TYPE_DEFINITIONS_ERPCSHIM)
-#define ERPC_TYPE_DEFINITIONS_ERPCSHIM
-
-#endif // ERPC_TYPE_DEFINITIONS_ERPCSHIM
-
-
-#endif // _head_service_common_hpp_

applications/erpc/proto/generated/head_service_interface.hpp

@@ -1,32 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_head_service_interface_hpp_)
-#define _head_service_interface_hpp_
-
-#include "head_service_common.hpp"
-
-namespace erpcShim
-{
-
-
-// Abstract base class for demo
-class demo_interface
-{
-    public:
-        static const uint8_t m_serviceId = 1;
-        static const uint8_t m_addId = 1;
-
-        virtual ~demo_interface(void);
-
-        virtual int32_t add(int32_t a, int32_t b) = 0;
-private:
-};
-} // erpcShim
-
-
-#endif // _head_service_interface_hpp_

applications/erpc/proto/generated/head_service_server.cpp

@@ -1,112 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#include "head_service_server.hpp"
-#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
-#include <new>
-#include "erpc_port.h"
-#endif
-#include "erpc_manually_constructed.hpp"
-
-#if 11400 != ERPC_VERSION_NUMBER
-#error "The generated shim code version is different to the rest of eRPC code."
-#endif
-
-using namespace erpc;
-using namespace std;
-using namespace erpcShim;
-
-#if ERPC_NESTED_CALLS_DETECTION
-extern bool nestingDetection;
-#endif
-
-
-
-demo_service::demo_service(demo_interface *_demo_interface)
-    : erpc::Service(demo_interface::m_serviceId)
-    , m_handler(_demo_interface)
-{
-}
-
-demo_service::~demo_service()
-{
-}
-
-// return service interface handler.
-demo_interface* demo_service::getHandler(void)
-{
-    return m_handler;
-}
-
-// Call the correct server shim based on method unique ID.
-erpc_status_t demo_service::handleInvocation(uint32_t methodId, uint32_t sequence, Codec * codec, MessageBufferFactory *messageFactory, Transport * transport)
-{
-    erpc_status_t erpcStatus;
-    switch (methodId)
-    {
-        case demo_interface::m_addId:
-        {
-            erpcStatus = add_shim(codec, messageFactory, transport, sequence);
-            break;
-        }
-
-        default:
-        {
-            erpcStatus = kErpcStatus_InvalidArgument;
-            break;
-        }
-    }
-
-    return erpcStatus;
-}
-
-// Server shim for add of demo interface.
-erpc_status_t demo_service::add_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
-{
-    erpc_status_t err = kErpcStatus_Success;
-
-    int32_t a;
-    int32_t b;
-    int32_t result;
-
-    // startReadMessage() was already called before this shim was invoked.
-
-    codec->read(a);
-
-    codec->read(b);
-
-    err = codec->getStatus();
-    if (err == kErpcStatus_Success)
-    {
-        // Invoke the actual served function.
-#if ERPC_NESTED_CALLS_DETECTION
-        nestingDetection = true;
-#endif
-        result = m_handler->add(a, b);
-#if ERPC_NESTED_CALLS_DETECTION
-        nestingDetection = false;
-#endif
-
-        // preparing MessageBuffer for serializing data
-        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
-    }
-
-    if (err == kErpcStatus_Success)
-    {
-        // preparing codec for serializing data
-        codec->reset(transport->reserveHeaderSize());
-
-        // Build response message.
-        codec->startWriteMessage(message_type_t::kReplyMessage, demo_interface::m_serviceId, demo_interface::m_addId, sequence);
-
-        codec->write(result);
-
-        err = codec->getStatus();
-    }
-
-    return err;
-}

applications/erpc/proto/generated/head_service_server.hpp

@@ -1,49 +0,0 @@
-/*
- * Generated by erpcgen 1.14.0 on Wed Dec 24 14:07:39 2025.
- *
- * AUTOGENERATED - DO NOT EDIT
- */
-
-
-#if !defined(_head_service_server_hpp_)
-#define _head_service_server_hpp_
-
-#include "head_service_interface.hpp"
-
-#include "erpc_server.hpp"
-#include "erpc_codec.hpp"
-
-#if 11400 != ERPC_VERSION_NUMBER
-#error "The generated shim code version is different to the rest of eRPC code."
-#endif
-
-
-namespace erpcShim
-{
-
-/*!
- * @brief Service subclass for demo.
- */
-class demo_service : public erpc::Service
-{
-public:
-    demo_service(demo_interface *_demo_interface);
-
-    virtual ~demo_service();
-
-    /*! @brief return service interface handler. */
-    demo_interface* getHandler(void);
-
-    /*! @brief Call the correct server shim based on method unique ID. */
-    virtual erpc_status_t handleInvocation(uint32_t methodId, uint32_t sequence, erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport);
-
-private:
-    demo_interface *m_handler;
-    /*! @brief Server shim for add of demo interface. */
-    erpc_status_t add_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
-};
-
-} // erpcShim
-
-
-#endif // _head_service_server_hpp_

applications/erpc/proto/generated/servo_service_client.cpp

@@ -0,0 +1,484 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include "erpc_port.h"
+#endif
+#include "erpc_codec.hpp"
+#include "servo_service_client.hpp"
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+//! @brief Function to write struct ServoCmd
+static void write_ServoCmd_struct(erpc::Codec * codec, const ServoCmd * data);
+
+//! @brief Function to write struct list_ServoCmd_1_t
+static void write_list_ServoCmd_1_t_struct(erpc::Codec * codec, const list_ServoCmd_1_t * data);
+
+//! @brief Function to write struct list_float_1_t
+static void write_list_float_1_t_struct(erpc::Codec * codec, const list_float_1_t * data);
+
+
+// Write struct ServoCmd function implementation
+static void write_ServoCmd_struct(erpc::Codec * codec, const ServoCmd * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    {
+        uint32_t id_len = strlen((const char*)data->id);
+
+        codec->writeString(id_len, (const char*)data->id);
+    }
+
+    codec->write(data->angle_rad);
+}
+
+// Write struct list_ServoCmd_1_t function implementation
+static void write_list_ServoCmd_1_t_struct(erpc::Codec * codec, const list_ServoCmd_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startWriteList(data->elementsCount);
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        write_ServoCmd_struct(codec, &(data->elements[listCount]));
+    }
+}
+
+// Write struct list_float_1_t function implementation
+static void write_list_float_1_t_struct(erpc::Codec * codec, const list_float_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startWriteList(data->elementsCount);
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        codec->write(data->elements[listCount]);
+    }
+}
+
+
+
+
+servo_service_client::servo_service_client(ClientManager *manager)
+:m_clientManager(manager)
+{
+}
+
+servo_service_client::~servo_service_client()
+{
+}
+
+// servo_service interface setConstraints function client shim.
+bool servo_service_client::setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setConstraintsId, request.getSequence());
+
+        {
+            uint32_t id_len = strlen((const char*)id);
+
+            codec->writeString(id_len, (const char*)id);
+        }
+
+        codec->write(max_velocity_rad);
+
+        codec->write(max_acceleration_rad);
+
+        codec->write(max_jerk_rad);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setConstraintsId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface setPositionGain function client shim.
+bool servo_service_client::setPositionGain(const char * id, float position_gain)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setPositionGainId, request.getSequence());
+
+        {
+            uint32_t id_len = strlen((const char*)id);
+
+            codec->writeString(id_len, (const char*)id);
+        }
+
+        codec->write(position_gain);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setPositionGainId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface setMode function client shim.
+bool servo_service_client::setMode(RpcMotionMode mode)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setModeId, request.getSequence());
+
+        codec->write(static_cast<int32_t>(mode));
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setModeId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface setUpdatePeriodMs function client shim.
+bool servo_service_client::setUpdatePeriodMs(uint32_t ms)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    bool result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_setUpdatePeriodMsId, request.getSequence());
+
+        codec->write(ms);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_setUpdatePeriodMsId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = false;
+    }
+
+    return result;
+}
+
+// servo_service interface move function client shim.
+int32_t servo_service_client::move(const list_ServoCmd_1_t * cmds)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_moveId, request.getSequence());
+
+        write_list_ServoCmd_1_t_struct(codec, cmds);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_moveId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}
+
+// servo_service interface moveJ function client shim.
+int32_t servo_service_client::moveJ(const list_float_1_t * angles_rad)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    int32_t result;
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb preCB = m_clientManager->getPreCB();
+    if (preCB)
+    {
+        preCB();
+    }
+#endif
+
+    // Get a new request.
+    RequestContext request = m_clientManager->createRequest(false);
+
+    // Encode the request.
+    Codec * codec = request.getCodec();
+
+    if (codec == NULL)
+    {
+        err = kErpcStatus_MemoryError;
+    }
+    else
+    {
+        codec->startWriteMessage(message_type_t::kInvocationMessage, m_serviceId, m_moveJId, request.getSequence());
+
+        write_list_float_1_t_struct(codec, angles_rad);
+
+        // Send message to server
+        // Codec status is checked inside this function.
+        m_clientManager->performRequest(request);
+
+        codec->read(result);
+
+        err = codec->getStatus();
+    }
+
+    // Dispose of the request.
+    m_clientManager->releaseRequest(request);
+
+    // Invoke error handler callback function
+    m_clientManager->callErrorHandler(err, m_moveJId);
+
+#if ERPC_PRE_POST_ACTION
+    pre_post_action_cb postCB = m_clientManager->getPostCB();
+    if (postCB)
+    {
+        postCB();
+    }
+#endif
+
+
+    if (err != kErpcStatus_Success)
+    {
+        result = -1;
+    }
+
+    return result;
+}

applications/erpc/proto/generated/servo_service_client.hpp

@@ -0,0 +1,44 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_client_hpp_)
+#define _servo_service_client_hpp_
+
+#include "servo_service_interface.hpp"
+
+#include "erpc_client_manager.h"
+
+namespace erpcShim
+{
+
+class servo_service_client: public servo_service_interface
+{
+    public:
+        servo_service_client(erpc::ClientManager *manager);
+
+        virtual ~servo_service_client();
+
+        virtual bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad);
+
+        virtual bool setPositionGain(const char * id, float position_gain);
+
+        virtual bool setMode(RpcMotionMode mode);
+
+        virtual bool setUpdatePeriodMs(uint32_t ms);
+
+        virtual int32_t move(const list_ServoCmd_1_t * cmds);
+
+        virtual int32_t moveJ(const list_float_1_t * angles_rad);
+
+    protected:
+        erpc::ClientManager *m_clientManager;
+};
+
+} // erpcShim
+
+
+#endif // _servo_service_client_hpp_

applications/erpc/proto/generated/servo_service_common.h

@@ -0,0 +1,69 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_common_h_)
+#define _servo_service_common_h_
+
+
+#if defined(__cplusplus)
+extern "C"
+{
+#endif
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_SERVO_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+// Enumerators data types declarations
+typedef enum RpcMotionMode
+{
+    RpcMotionModeImmediate = 0,
+    RpcMotionModeSCurve = 1,
+    RpcMotionModeFollow = 2
+} RpcMotionMode;
+
+// Aliases data types declarations
+typedef struct list_float_1_t list_float_1_t;
+typedef struct ServoCmd ServoCmd;
+typedef struct list_ServoCmd_1_t list_ServoCmd_1_t;
+
+// Structures/unions data types declarations
+struct list_float_1_t
+{
+    float * elements;
+    uint32_t elementsCount;
+};
+
+struct ServoCmd
+{
+    char * id;
+    float angle_rad;
+};
+
+struct list_ServoCmd_1_t
+{
+    ServoCmd * elements;
+    uint32_t elementsCount;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+#if defined(__cplusplus)
+}
+#endif
+
+#endif // _servo_service_common_h_

applications/erpc/proto/generated/servo_service_common.hpp

@@ -0,0 +1,61 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_common_hpp_)
+#define _servo_service_common_hpp_
+
+
+#include <cstddef>
+#include <cstdint>
+
+#include "erpc_version.h"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+#if !defined(ERPC_TYPE_DEFINITIONS_SERVO_SERVICE)
+#define ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+// Enumerators data types declarations
+typedef enum RpcMotionMode
+{
+    RpcMotionModeImmediate = 0,
+    RpcMotionModeSCurve = 1,
+    RpcMotionModeFollow = 2
+} RpcMotionMode;
+
+// Aliases data types declarations
+typedef struct list_float_1_t list_float_1_t;
+typedef struct ServoCmd ServoCmd;
+typedef struct list_ServoCmd_1_t list_ServoCmd_1_t;
+
+// Structures/unions data types declarations
+struct list_float_1_t
+{
+    float * elements;
+    uint32_t elementsCount;
+};
+
+struct ServoCmd
+{
+    char * id;
+    float angle_rad;
+};
+
+struct list_ServoCmd_1_t
+{
+    ServoCmd * elements;
+    uint32_t elementsCount;
+};
+
+
+#endif // ERPC_TYPE_DEFINITIONS_SERVO_SERVICE
+
+
+#endif // _servo_service_common_hpp_

applications/erpc/proto/generated/servo_service_interface.cpp

@@ -0,0 +1,20 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "servo_service_interface.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+using namespace std;
+using namespace erpcShim;
+
+servo_service_interface::~servo_service_interface(void)
+{
+}

applications/erpc/proto/generated/servo_service_interface.hpp

@@ -0,0 +1,47 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_interface_hpp_)
+#define _servo_service_interface_hpp_
+
+#include "servo_service_common.hpp"
+
+namespace erpcShim
+{
+
+
+// Abstract base class for servo_service
+class servo_service_interface
+{
+    public:
+        static const uint8_t m_serviceId = 1;
+        static const uint8_t m_setConstraintsId = 1;
+        static const uint8_t m_setPositionGainId = 2;
+        static const uint8_t m_setModeId = 3;
+        static const uint8_t m_setUpdatePeriodMsId = 4;
+        static const uint8_t m_moveId = 5;
+        static const uint8_t m_moveJId = 6;
+
+        virtual ~servo_service_interface(void);
+
+        virtual bool setConstraints(const char * id, float max_velocity_rad, float max_acceleration_rad, float max_jerk_rad) = 0;
+
+        virtual bool setPositionGain(const char * id, float position_gain) = 0;
+
+        virtual bool setMode(RpcMotionMode mode) = 0;
+
+        virtual bool setUpdatePeriodMs(uint32_t ms) = 0;
+
+        virtual int32_t move(const list_ServoCmd_1_t * cmds) = 0;
+
+        virtual int32_t moveJ(const list_float_1_t * angles_rad) = 0;
+private:
+};
+} // erpcShim
+
+
+#endif // _servo_service_interface_hpp_

applications/erpc/proto/generated/servo_service_server.cpp

@@ -0,0 +1,539 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#include "servo_service_server.hpp"
+#if ERPC_ALLOCATION_POLICY == ERPC_ALLOCATION_POLICY_DYNAMIC
+#include <new>
+#include "erpc_port.h"
+#endif
+#include "erpc_manually_constructed.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+using namespace erpc;
+using namespace std;
+using namespace erpcShim;
+
+#if ERPC_NESTED_CALLS_DETECTION
+extern bool nestingDetection;
+#endif
+
+
+//! @brief Function to read struct ServoCmd
+static void read_ServoCmd_struct(erpc::Codec * codec, ServoCmd * data);
+
+//! @brief Function to read struct list_ServoCmd_1_t
+static void read_list_ServoCmd_1_t_struct(erpc::Codec * codec, list_ServoCmd_1_t * data);
+
+//! @brief Function to read struct list_float_1_t
+static void read_list_float_1_t_struct(erpc::Codec * codec, list_float_1_t * data);
+
+
+// Read struct ServoCmd function implementation
+static void read_ServoCmd_struct(erpc::Codec * codec, ServoCmd * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    {
+        uint32_t id_len;
+        char * id_local;
+        codec->readString(id_len, &id_local);
+        data->id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
+        if ((data->id == NULL) || (id_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(data->id, id_local, id_len);
+            (data->id)[id_len] = 0;
+        }
+    }
+
+    codec->read(data->angle_rad);
+}
+
+// Read struct list_ServoCmd_1_t function implementation
+static void read_list_ServoCmd_1_t_struct(erpc::Codec * codec, list_ServoCmd_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startReadList(data->elementsCount);
+    data->elements = (ServoCmd *) erpc_malloc(data->elementsCount * sizeof(ServoCmd));
+    if ((data->elements == NULL) && (data->elementsCount > 0))
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        read_ServoCmd_struct(codec, &(data->elements[listCount]));
+    }
+}
+
+// Read struct list_float_1_t function implementation
+static void read_list_float_1_t_struct(erpc::Codec * codec, list_float_1_t * data)
+{
+    if(NULL == data)
+    {
+        return;
+    }
+
+    codec->startReadList(data->elementsCount);
+    data->elements = (float *) erpc_malloc(data->elementsCount * sizeof(float));
+    if ((data->elements == NULL) && (data->elementsCount > 0))
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    for (uint32_t listCount = 0U; listCount < data->elementsCount; ++listCount)
+    {
+        codec->read(data->elements[listCount]);
+    }
+}
+
+
+//! @brief Function to free space allocated inside struct ServoCmd
+static void free_ServoCmd_struct(ServoCmd * data);
+
+//! @brief Function to free space allocated inside struct list_ServoCmd_1_t
+static void free_list_ServoCmd_1_t_struct(list_ServoCmd_1_t * data);
+
+//! @brief Function to free space allocated inside struct list_float_1_t
+static void free_list_float_1_t_struct(list_float_1_t * data);
+
+
+// Free space allocated inside struct ServoCmd function implementation
+static void free_ServoCmd_struct(ServoCmd * data)
+{
+    erpc_free(data->id);
+}
+
+// Free space allocated inside struct list_ServoCmd_1_t function implementation
+static void free_list_ServoCmd_1_t_struct(list_ServoCmd_1_t * data)
+{
+    for (uint32_t listCount = 0; listCount < data->elementsCount; ++listCount)
+    {
+        free_ServoCmd_struct(&data->elements[listCount]);
+    }
+
+    erpc_free(data->elements);
+}
+
+// Free space allocated inside struct list_float_1_t function implementation
+static void free_list_float_1_t_struct(list_float_1_t * data)
+{
+    erpc_free(data->elements);
+}
+
+
+
+servo_service_service::servo_service_service(servo_service_interface *_servo_service_interface)
+    : erpc::Service(servo_service_interface::m_serviceId)
+    , m_handler(_servo_service_interface)
+{
+}
+
+servo_service_service::~servo_service_service()
+{
+}
+
+// return service interface handler.
+servo_service_interface* servo_service_service::getHandler(void)
+{
+    return m_handler;
+}
+
+// Call the correct server shim based on method unique ID.
+erpc_status_t servo_service_service::handleInvocation(uint32_t methodId, uint32_t sequence, Codec * codec, MessageBufferFactory *messageFactory, Transport * transport)
+{
+    erpc_status_t erpcStatus;
+    switch (methodId)
+    {
+        case servo_service_interface::m_setConstraintsId:
+        {
+            erpcStatus = setConstraints_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_setPositionGainId:
+        {
+            erpcStatus = setPositionGain_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_setModeId:
+        {
+            erpcStatus = setMode_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_setUpdatePeriodMsId:
+        {
+            erpcStatus = setUpdatePeriodMs_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_moveId:
+        {
+            erpcStatus = move_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        case servo_service_interface::m_moveJId:
+        {
+            erpcStatus = moveJ_shim(codec, messageFactory, transport, sequence);
+            break;
+        }
+
+        default:
+        {
+            erpcStatus = kErpcStatus_InvalidArgument;
+            break;
+        }
+    }
+
+    return erpcStatus;
+}
+
+// Server shim for setConstraints of servo_service interface.
+erpc_status_t servo_service_service::setConstraints_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    char * id = NULL;
+    float max_velocity_rad;
+    float max_acceleration_rad;
+    float max_jerk_rad;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    {
+        uint32_t id_len;
+        char * id_local;
+        codec->readString(id_len, &id_local);
+        id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
+        if ((id == NULL) || (id_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(id, id_local, id_len);
+            (id)[id_len] = 0;
+        }
+    }
+
+    codec->read(max_velocity_rad);
+
+    codec->read(max_acceleration_rad);
+
+    codec->read(max_jerk_rad);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setConstraints(id, max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setConstraintsId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    erpc_free(id);
+
+    return err;
+}
+
+// Server shim for setPositionGain of servo_service interface.
+erpc_status_t servo_service_service::setPositionGain_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    char * id = NULL;
+    float position_gain;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    {
+        uint32_t id_len;
+        char * id_local;
+        codec->readString(id_len, &id_local);
+        id = (char*) erpc_malloc((id_len + 1) * sizeof(char));
+        if ((id == NULL) || (id_local == NULL))
+        {
+            codec->updateStatus(kErpcStatus_MemoryError);
+        }
+        else
+        {
+            memcpy(id, id_local, id_len);
+            (id)[id_len] = 0;
+        }
+    }
+
+    codec->read(position_gain);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setPositionGain(id, position_gain);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setPositionGainId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    erpc_free(id);
+
+    return err;
+}
+
+// Server shim for setMode of servo_service interface.
+erpc_status_t servo_service_service::setMode_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    RpcMotionMode mode;
+    int32_t _tmp_local_i32;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    codec->read(_tmp_local_i32);
+    mode = static_cast<RpcMotionMode>(_tmp_local_i32);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setMode(mode);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setModeId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}
+
+// Server shim for setUpdatePeriodMs of servo_service interface.
+erpc_status_t servo_service_service::setUpdatePeriodMs_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    uint32_t ms;
+    bool result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    codec->read(ms);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->setUpdatePeriodMs(ms);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_setUpdatePeriodMsId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    return err;
+}
+
+// Server shim for move of servo_service interface.
+erpc_status_t servo_service_service::move_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    list_ServoCmd_1_t *cmds = NULL;
+    cmds = (list_ServoCmd_1_t *) erpc_malloc(sizeof(list_ServoCmd_1_t));
+    if (cmds == NULL)
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    read_list_ServoCmd_1_t_struct(codec, cmds);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->move(cmds);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_moveId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    if (cmds)
+    {
+        free_list_ServoCmd_1_t_struct(cmds);
+    }
+    erpc_free(cmds);
+
+    return err;
+}
+
+// Server shim for moveJ of servo_service interface.
+erpc_status_t servo_service_service::moveJ_shim(Codec * codec, MessageBufferFactory *messageFactory, Transport * transport, uint32_t sequence)
+{
+    erpc_status_t err = kErpcStatus_Success;
+
+    list_float_1_t *angles_rad = NULL;
+    angles_rad = (list_float_1_t *) erpc_malloc(sizeof(list_float_1_t));
+    if (angles_rad == NULL)
+    {
+        codec->updateStatus(kErpcStatus_MemoryError);
+    }
+    int32_t result;
+
+    // startReadMessage() was already called before this shim was invoked.
+
+    read_list_float_1_t_struct(codec, angles_rad);
+
+    err = codec->getStatus();
+    if (err == kErpcStatus_Success)
+    {
+        // Invoke the actual served function.
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = true;
+#endif
+        result = m_handler->moveJ(angles_rad);
+#if ERPC_NESTED_CALLS_DETECTION
+        nestingDetection = false;
+#endif
+
+        // preparing MessageBuffer for serializing data
+        err = messageFactory->prepareServerBufferForSend(codec->getBufferRef(), transport->reserveHeaderSize());
+    }
+
+    if (err == kErpcStatus_Success)
+    {
+        // preparing codec for serializing data
+        codec->reset(transport->reserveHeaderSize());
+
+        // Build response message.
+        codec->startWriteMessage(message_type_t::kReplyMessage, servo_service_interface::m_serviceId, servo_service_interface::m_moveJId, sequence);
+
+        codec->write(result);
+
+        err = codec->getStatus();
+    }
+
+    if (angles_rad)
+    {
+        free_list_float_1_t_struct(angles_rad);
+    }
+    erpc_free(angles_rad);
+
+    return err;
+}

applications/erpc/proto/generated/servo_service_server.hpp

@@ -0,0 +1,64 @@
+/*
+ * Generated by erpcgen 1.14.0 on Tue Apr 28 13:10:25 2026.
+ *
+ * AUTOGENERATED - DO NOT EDIT
+ */
+
+
+#if !defined(_servo_service_server_hpp_)
+#define _servo_service_server_hpp_
+
+#include "servo_service_interface.hpp"
+
+#include "erpc_server.hpp"
+#include "erpc_codec.hpp"
+
+#if 11400 != ERPC_VERSION_NUMBER
+#error "The generated shim code version is different to the rest of eRPC code."
+#endif
+
+
+namespace erpcShim
+{
+
+/*!
+ * @brief Service subclass for servo_service.
+ */
+class servo_service_service : public erpc::Service
+{
+public:
+    servo_service_service(servo_service_interface *_servo_service_interface);
+
+    virtual ~servo_service_service();
+
+    /*! @brief return service interface handler. */
+    servo_service_interface* getHandler(void);
+
+    /*! @brief Call the correct server shim based on method unique ID. */
+    virtual erpc_status_t handleInvocation(uint32_t methodId, uint32_t sequence, erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport);
+
+private:
+    servo_service_interface *m_handler;
+    /*! @brief Server shim for setConstraints of servo_service interface. */
+    erpc_status_t setConstraints_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for setPositionGain of servo_service interface. */
+    erpc_status_t setPositionGain_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for setMode of servo_service interface. */
+    erpc_status_t setMode_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for setUpdatePeriodMs of servo_service interface. */
+    erpc_status_t setUpdatePeriodMs_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for move of servo_service interface. */
+    erpc_status_t move_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+
+    /*! @brief Server shim for moveJ of servo_service interface. */
+    erpc_status_t moveJ_shim(erpc::Codec * codec, erpc::MessageBufferFactory *messageFactory, erpc::Transport * transport, uint32_t sequence);
+};
+
+} // erpcShim
+
+
+#endif // _servo_service_server_hpp_

applications/erpc/proto/head_service.erpc

@@ -1,3 +0,0 @@
-interface demo {
-     add(int32 a, int32 b) -> int32
-};

applications/erpc/proto/servo_service.erpc

@@ -0,0 +1,34 @@
+// servo_service.erpc
+// Generator examples:
+//   .\erpcgen.exe -o .\generated\ -g c .\servo_service.erpc
+//   .\erpcgen.exe -g py .\servo_service.erpc
+// 注意：interface 客户端和服务端erpc里面的函数顺序一定要一样
+
+program servo_service
+
+enum RpcMotionMode {
+    RpcMotionModeImmediate = 0,
+    RpcMotionModeSCurve = 1,
+    RpcMotionModeFollow = 2
+}
+struct ServoCmd {
+    string id
+    float angle_rad
+}
+interface servo_service
+{
+    setConstraints(string id,
+                   float max_velocity_rad,
+                   float max_acceleration_rad,
+                   float max_jerk_rad) -> bool
+    setPositionGain(string id,
+                    float position_gain) -> bool
+
+    setMode(RpcMotionMode mode)->bool
+    setUpdatePeriodMs(uint32 ms) -> bool
+    move(list<ServoCmd> cmds) -> int32
+
+    moveJ(list<float> angles_rad) -> int32
+
+
+}

applications/erpc/service/include/file_service_impl.h

@@ -0,0 +1,43 @@
+//
+// Created by Administrator on 2026/4/27.
+//
+
+#ifndef RTTHREAD_HEAD_FILE_SERVICE_IMPL_H
+#define RTTHREAD_HEAD_FILE_SERVICE_IMPL_H
+
+
+#include <string>
+
+#include "erpc/proto/generated/file_service_server.hpp"
+#include <rtthread.h>
+
+
+class FileServiceImpl : public erpcShim::file_service_interface
+{
+public:
+    FileServiceImpl();
+    ~FileServiceImpl() override;
+
+    int32_t fileWriteBegin(const char* path, uint32_t total_size) override;
+    int32_t fileWriteChunk(const binary_t* data) override;
+    int32_t fileWriteEnd(void) override;
+    int32_t fileWriteAbort(void) override;
+
+private:
+    // 当前实现一次只允许一个上传会话；下面的上传状态由 upload_mutex_ 保护。
+    rt_mutex_t upload_mutex_;
+    int upload_fd_;
+    uint32_t upload_expected_size_;
+    uint32_t upload_received_size_;
+    std::string upload_target_path_;
+    std::string upload_temp_path_;
+
+    // 规范化上传路径，并拒绝设备路径和父目录跳转。
+    static bool normalizeUploadPath(const char* path, std::string* normalized);
+    static int32_t posixErrorToRtError(void);
+    void resetUploadStateLocked(void);
+    // 调用方必须已经持有 upload_mutex_。
+    int32_t abortUploadLocked(void);
+};
+
+#endif

applications/erpc/service/include/head_service_impl.h

@@ -1,24 +0,0 @@
-//
-// Created by Administrator on 2025/12/24.
-//
-
-#ifndef RTTHREAD_HEAD_SERVICE_IMPL_H
-#define RTTHREAD_HEAD_SERVICE_IMPL_H
-
-
-#include <stdint.h>
-#include "erpc/proto/generated/head_service_interface.hpp"
-
-
-class HeadServiceImpl : public erpcShim::demo_interface
-{
-public:
-    HeadServiceImpl() = default;
-    virtual ~HeadServiceImpl() = default;
-
-    // 实现你 .erpc 里定义的方法（这里只举例 add）
-    int32_t add(int32_t a, int32_t b) override;
-};
-
-
-#endif //RTTHREAD_HEAD_SERVICE_IMPL_H

applications/erpc/service/include/servo_service_impl.h

@@ -0,0 +1,42 @@
+//
+// Created by Administrator on 2025/12/24.
+//
+
+#ifndef RTTHREAD_HEAD_SERVICE_IMPL_H
+#define RTTHREAD_HEAD_SERVICE_IMPL_H
+
+#include <stdint.h>
+#include <vector>
+
+#include "erpc/proto/generated/servo_service_server.hpp"
+#include "servo_manager/include/servo_manager.h"
+
+
+#include <rtthread.h>
+
+
+class ServoServiceImpl : public erpcShim::servo_service_interface
+{
+public:
+    ServoServiceImpl();
+    ~ServoServiceImpl() override;
+
+    bool setConstraints(const char* id,
+                        float max_velocity_rad,
+                        float max_acceleration_rad,
+                        float max_jerk_rad) override;
+    bool setPositionGain(const char* id,
+                         float position_gain) override;
+    bool setMode(RpcMotionMode mode) override;
+    bool setUpdatePeriodMs(uint32_t ms) override;
+    int32_t move(const list_ServoCmd_1_t* cmds) override;
+    int32_t moveJ(const list_float_1_t* angles_rad) override;
+
+private:
+    ServoManager manager_;
+    rt_err_t init_err_;
+    MotionMode mode_;
+    rt_mutex_t mutex_;
+};
+
+#endif // RTTHREAD_HEAD_SERVICE_IMPL_H

applications/erpc/service/src/erpc_server_main.cpp

@@ -10,22 +10,20 @@
 #include "erpc_server_setup.h"
 #include "erpc_transport_setup.h"
 #include "erpc_mbf_setup.h"
+#include "erpc_usb_cdc_transport.hpp"
 
 
-#include "erpc/proto/generated/head_service_server.hpp"
+#include "erpc/proto/generated/servo_service_server.hpp"
-#include "erpc/proto/generated/head_service_interface.hpp"
+#include "erpc/proto/generated/servo_service_interface.hpp"
-
+#include "erpc/service/include/servo_service_impl.h"
-#include "erpc/service/include/head_service_impl.h"
 #include "erpc/common/include/erpc_error_handler.h"
 
-// ====== 参数 ======
-#ifndef ERPC_SERVER_UART_NAME
-#define ERPC_SERVER_UART_NAME   "uart2"
-#endif
 
-#ifndef ERPC_UART_BAUD
+#include "erpc/proto/generated/file_service_server.hpp"
-#define ERPC_UART_BAUD   (921600 )
+#include "erpc/proto/generated/file_service_interface.hpp"
-#endif
+#include "erpc/service/include/file_service_impl.h"
+
+
 
 #ifndef ERPC_THREAD_STACK
 #define ERPC_THREAD_STACK (4096)
@@ -42,13 +40,15 @@
 static void erpc_server_entry(void *parameter)
 {
     (void)parameter;
-    // rt_kprintf("CPACR=%08lx\n", SCB->CPACR);
-
-
-    rt_kprintf("[erpc] server init on %s, %d\r\n", ERPC_SERVER_UART_NAME, ERPC_UART_BAUD);
-
     // 1) transport
-    erpc_transport_t transport = erpc_transport_serial_init(ERPC_SERVER_UART_NAME,ERPC_UART_BAUD);
+    static serial_port_usb_cdc_config_t cfg = {
+        .dev_name = "cdc0",
+        .rx_wait_ms = -1,
+        .tx_wait_ms = 2000,
+    };
+
+    erpc_transport_t transport = erpc_transport_usb_cdc_init(NULL, NULL, &cfg, NULL, 0);
+    // erpc_transport_t transport = erpc_transport_serial_init(ERPC_SERVER_UART_NAME,ERPC_UART_BAUD);
     // erpc_transport_t transport = erpc_transport_cmsis_uart_init(ERPC_SERVER_UART_NAME);
     if (!transport)
     {
@@ -72,12 +72,17 @@ static void erpc_server_entry(void *parameter)
         return;
     }
 
-    // 4) register service（你生成的是 demo_service + demo_interface）
+    // 4) register service
-    static HeadServiceImpl impl;          // 必须继承 erpcShim::demo_interface
+    static ServoServiceImpl impl;          // 必须继承 erpcShim::demo_interface
-    static erpcShim::demo_service service(&impl);   // 生成的 service wrapper
+    static erpcShim::servo_service_service service(&impl);   // 生成的 service wrapper
 
     erpc_add_service_to_server(server, &service);
 
+    static FileServiceImpl file_impl;
+    static erpcShim::file_service_service file_service(&file_impl);
+    erpc_add_service_to_server(server, &file_service);
+
+
     rt_kprintf("[erpc] server run\r\n");
     erpc_server_run(server);
     while (true){

applications/erpc/service/src/file_service_impl.cpp

@@ -0,0 +1,278 @@
+//
+// Created by Administrator on 2026/4/27.
+//
+
+#include "erpc/service/include/file_service_impl.h"
+#include <fcntl.h>
+#include <unistd.h>
+
+FileServiceImpl::FileServiceImpl()
+    : upload_mutex_(RT_NULL),
+      upload_fd_(-1),
+      upload_expected_size_(0),
+      upload_received_size_(0)
+{
+    upload_mutex_ = rt_mutex_create("sv_file", RT_IPC_FLAG_PRIO);
+}
+
+FileServiceImpl::~FileServiceImpl()
+{
+    if (upload_mutex_) {
+        rt_mutex_take(upload_mutex_, RT_WAITING_FOREVER);
+        (void)abortUploadLocked();
+        rt_mutex_release(upload_mutex_);
+        rt_mutex_delete(upload_mutex_);
+        upload_mutex_ = RT_NULL;
+    }
+}
+
+bool FileServiceImpl::normalizeUploadPath(const char* path, std::string* normalized)
+{
+    std::string local_path;
+
+    if (!path || !normalized) {
+        return false;
+    }
+
+    local_path.assign(path);
+    if (local_path.empty()) {
+        return false;
+    }
+
+    if (local_path[0] != '/') {
+        local_path.insert(local_path.begin(), '/');
+    }
+
+    // 避免覆盖设备节点，也避免通过 ".." 跳出预期目录。
+    if (local_path == "/" ||
+        local_path.rfind("/dev", 0) == 0 ||
+        local_path.find("/../") != std::string::npos ||
+        (local_path.size() >= 3 && local_path.compare(local_path.size() - 3, 3, "/..") == 0)) {
+        return false;
+    }
+
+    *normalized = local_path;
+    return true;
+}
+
+int32_t FileServiceImpl::posixErrorToRtError(void)
+{
+    const int err = rt_get_errno();
+
+    if (err > 0) {
+        return -err;
+    }
+    if (err < 0) {
+        return err;
+    }
+
+    return -RT_ERROR;
+}
+
+void FileServiceImpl::resetUploadStateLocked(void)
+{
+    upload_fd_ = -1;
+    upload_expected_size_ = 0;
+    upload_received_size_ = 0;
+    upload_target_path_.clear();
+    upload_temp_path_.clear();
+}
+
+int32_t FileServiceImpl::abortUploadLocked(void)
+{
+    // 取消上传时尽量关闭文件、删除残留的 .part 文件，并清空内存状态。
+    if (upload_fd_ >= 0) {
+        if (::close(upload_fd_) != 0) {
+            const int32_t err = posixErrorToRtError();
+            upload_fd_ = -1;
+            if (!upload_temp_path_.empty()) {
+                (void)::unlink(upload_temp_path_.c_str());
+            }
+            resetUploadStateLocked();
+            return err;
+        }
+    }
+
+    if (!upload_temp_path_.empty()) {
+        (void)::unlink(upload_temp_path_.c_str());
+    }
+
+    resetUploadStateLocked();
+    return RT_EOK;
+}
+
+int32_t FileServiceImpl::fileWriteBegin(const char* path, uint32_t total_size)
+{
+    std::string normalized_path;
+    std::string temp_path;
+    int fd;
+
+    if (!upload_mutex_) {
+        rt_kprintf("[FileService][E] fileWriteBegin: upload mutex is null\n");
+        return -RT_ENOMEM;
+    }
+
+    if (!normalizeUploadPath(path, &normalized_path)) {
+        rt_kprintf("[FileService][E] fileWriteBegin: invalid path=%s\n",
+                   path ? path : "(null)");
+        return -RT_EINVAL;
+    }
+
+    temp_path = normalized_path + ".part";
+
+    rt_mutex_take(upload_mutex_, RT_WAITING_FOREVER);
+    // 单会话上传可以避免多个客户端同时写同一组上传状态。
+    if (upload_fd_ >= 0) {
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteBegin: upload already active, path=%s\n",
+                   upload_target_path_.c_str());
+        return -RT_EBUSY;
+    }
+
+    // 先写临时文件，只有 fileWriteEnd() 校验完整大小后才发布到目标路径。
+    (void)::unlink(temp_path.c_str());
+    fd = ::open(temp_path.c_str(), O_WRONLY | O_CREAT | O_TRUNC, 0);
+    if (fd < 0) {
+        const int32_t err = posixErrorToRtError();
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteBegin: open failed, path=%s err=%d\n",
+                   temp_path.c_str(),
+                   (int)err);
+        return err;
+    }
+
+    upload_fd_ = fd;
+    upload_expected_size_ = total_size;
+    upload_received_size_ = 0;
+    upload_target_path_ = normalized_path;
+    upload_temp_path_ = temp_path;
+    rt_mutex_release(upload_mutex_);
+
+    rt_kprintf("[FileService] fileWriteBegin: path=%s size=%u\n",
+               upload_target_path_.c_str(),
+               (unsigned)upload_expected_size_);
+    return RT_EOK;
+}
+
+int32_t FileServiceImpl::fileWriteChunk(const binary_t* data)
+{
+    uint32_t remaining;
+    const uint8_t* cursor;
+
+    if (!upload_mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    if (!data || (!data->data && data->dataLength > 0)) {
+        rt_kprintf("[FileService][E] fileWriteChunk: invalid chunk\n");
+        return -RT_EINVAL;
+    }
+
+    rt_mutex_take(upload_mutex_, RT_WAITING_FOREVER);
+    if (upload_fd_ < 0) {
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteChunk: upload not started\n");
+        return -RT_ERROR;
+    }
+
+    // 防止客户端重传、偏移错误或长度错误导致写入超过声明的 total_size。
+    if (data->dataLength > (upload_expected_size_ - upload_received_size_)) {
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteChunk: chunk overflow, recv=%u chunk=%u total=%u\n",
+                   (unsigned)upload_received_size_,
+                   (unsigned)data->dataLength,
+                   (unsigned)upload_expected_size_);
+        return -RT_EINVAL;
+    }
+
+    remaining = data->dataLength;
+    cursor = data->data;
+    // write() 可能只写入部分数据，因此循环直到当前 eRPC binary 块全部落盘。
+    while (remaining > 0) {
+        const ssize_t written = ::write(upload_fd_, cursor, remaining);
+        if (written <= 0) {
+            const int32_t err = posixErrorToRtError();
+            (void)abortUploadLocked();
+            rt_mutex_release(upload_mutex_);
+            rt_kprintf("[FileService][E] fileWriteChunk: write failed, err=%d\n", (int)err);
+            return err;
+        }
+
+        remaining -= (uint32_t)written;
+        cursor += written;
+        upload_received_size_ += (uint32_t)written;
+    }
+
+    rt_mutex_release(upload_mutex_);
+    return RT_EOK;
+}
+
+int32_t FileServiceImpl::fileWriteEnd(void)
+{
+    if (!upload_mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(upload_mutex_, RT_WAITING_FOREVER);
+    if (upload_fd_ < 0) {
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteEnd: upload not started\n");
+        return -RT_ERROR;
+    }
+
+    // 最终大小必须完全一致，避免缺块时发布不完整文件。
+    if (upload_received_size_ != upload_expected_size_) {
+        const uint32_t received = upload_received_size_;
+        const uint32_t expected = upload_expected_size_;
+        (void)abortUploadLocked();
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteEnd: size mismatch, recv=%u expected=%u\n",
+                   (unsigned)received,
+                   (unsigned)expected);
+        return -RT_EINVAL;
+    }
+
+    if (::close(upload_fd_) != 0) {
+        const int32_t err = posixErrorToRtError();
+        upload_fd_ = -1;
+        (void)::unlink(upload_temp_path_.c_str());
+        resetUploadStateLocked();
+        rt_mutex_release(upload_mutex_);
+        rt_kprintf("[FileService][E] fileWriteEnd: close failed, err=%d\n", (int)err);
+        return err;
+    }
+    upload_fd_ = -1;
+
+    if (::rename(upload_temp_path_.c_str(), upload_target_path_.c_str()) != 0) {
+        (void)::unlink(upload_target_path_.c_str());
+        if (::rename(upload_temp_path_.c_str(), upload_target_path_.c_str()) != 0) {
+            const int32_t err = posixErrorToRtError();
+            (void)::unlink(upload_temp_path_.c_str());
+            resetUploadStateLocked();
+            rt_mutex_release(upload_mutex_);
+            rt_kprintf("[FileService][E] fileWriteEnd: rename failed, err=%d\n", (int)err);
+            return err;
+        }
+    }
+
+    rt_kprintf("[FileService] fileWriteEnd: path=%s size=%u\n",
+               upload_target_path_.c_str(),
+               (unsigned)upload_received_size_);
+    resetUploadStateLocked();
+    rt_mutex_release(upload_mutex_);
+    return RT_EOK;
+}
+
+int32_t FileServiceImpl::fileWriteAbort(void)
+{
+    int32_t err;
+
+    if (!upload_mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(upload_mutex_, RT_WAITING_FOREVER);
+    err = abortUploadLocked();
+    rt_mutex_release(upload_mutex_);
+    return err;
+}

applications/erpc/service/src/head_service_impl.cpp

@@ -1,17 +0,0 @@
-//
-// Created by Administrator on 2025/12/24.
-//
-
-#include "../include/head_service_impl.h"
-#include <rtthread.h>
-
-
-int32_t HeadServiceImpl::add(int32_t a, int32_t b)
-{
-    int32_t r = a + b;
-    rt_tick_t now = rt_tick_get();
-    rt_uint32_t ms = (rt_uint32_t)((rt_uint64_t)now * 1000 / RT_TICK_PER_SECOND);
-    rt_kprintf("[%lu ms] [erpc service] add(%ld,%ld)=%ld\r\n",
-               (unsigned long)ms, (long)a, (long)b, (long)r);
-    return r;
-}

applications/erpc/service/src/servo_service_impl.cpp

@@ -0,0 +1,294 @@
+//
+// Created by Administrator on 2025/12/24.
+//
+
+#include "erpc/service/include/servo_service_impl.h"
+#include <string>
+
+
+ServoServiceImpl::ServoServiceImpl()
+    : manager_("/config/servo_config.json"),
+      init_err_(RT_EOK),
+      mode_(MotionMode::Immediate),
+      mutex_(RT_NULL)
+{
+    mutex_ = rt_mutex_create("sv_svc", RT_IPC_FLAG_PRIO);
+    if (!mutex_) {
+        init_err_ = -RT_ENOMEM;
+        rt_kprintf("[ServoService][E] mutex create FAILED, err=%d\n", (int)init_err_);
+        return;
+    }
+
+    init_err_ = manager_.init(true, true);
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] init FAILED, err=%d\n", (int)init_err_);
+        return;
+    }
+
+    manager_.setUpdatePeriodMs(10);
+
+    init_err_ = manager_.start();
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] manager start FAILED, err=%d\n", (int)init_err_);
+    }
+}
+
+ServoServiceImpl::~ServoServiceImpl()
+{
+    if (mutex_) {
+        rt_mutex_delete(mutex_);
+        mutex_ = RT_NULL;
+    }
+}
+
+bool ServoServiceImpl::setConstraints(const char* id,
+                                      float max_velocity_rad,
+                                      float max_acceleration_rad,
+                                      float max_jerk_rad)
+{
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] setConstraints: service not ready, init_err=%d\n",
+                   (int)init_err_);
+        return false;
+    }
+
+    if (!id) {
+        rt_kprintf("[ServoService][E] setConstraints: id is null\n");
+        return false;
+    }
+
+    if (max_velocity_rad <= 0.0f ||
+        max_acceleration_rad <= 0.0f ||
+        max_jerk_rad <= 0.0f) {
+        rt_kprintf("[ServoService][E] setConstraints: invalid constraints, id=%s v=%.4f a=%.4f j=%.4f\n",
+                   id,
+                   (double)max_velocity_rad,
+                   (double)max_acceleration_rad,
+                   (double)max_jerk_rad);
+        return false;
+    }
+
+    ServoControl* servo = manager_.get(std::string(id));
+    if (!servo) {
+        rt_kprintf("[ServoService][E] setConstraints: servo not found, id=%s\n", id);
+        return false;
+    }
+
+    servo->setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+    rt_kprintf("[ServoService] setConstraints: id=%s v=%.4f a=%.4f j=%.4f\n",
+               id,
+               (double)max_velocity_rad,
+               (double)max_acceleration_rad,
+               (double)max_jerk_rad);
+    return true;
+}
+
+bool ServoServiceImpl::setPositionGain(const char* id, float position_gain)
+{
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] setPositionGain: service not ready, init_err=%d\n",
+                   (int)init_err_);
+        return false;
+    }
+
+    if (!id) {
+        rt_kprintf("[ServoService][E] setPositionGain: id is null\n");
+        return false;
+    }
+
+    if (position_gain < 0.0f) {
+        rt_kprintf("[ServoService][E] setPositionGain: invalid gain, id=%s gain=%.4f\n",
+                   id,
+                   (double)position_gain);
+        return false;
+    }
+
+    ServoControl* servo = manager_.get(std::string(id));
+    if (!servo) {
+        rt_kprintf("[ServoService][E] setPositionGain: servo not found, id=%s\n", id);
+        return false;
+    }
+
+    servo->setPositionGain(position_gain);
+    manager_.wake();
+
+    rt_kprintf("[ServoService] setPositionGain: id=%s gain=%.4f\n",
+               id,
+               (double)position_gain);
+    return true;
+}
+
+bool ServoServiceImpl::setMode(RpcMotionMode mode)
+{
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] setMode: service not ready, init_err=%d\n",
+                   (int)init_err_);
+        return false;
+    }
+
+    if (!mutex_) {
+        rt_kprintf("[ServoService][E] setMode: mutex is null\n");
+        return false;
+    }
+
+    MotionMode motion_mode;
+    switch (static_cast<int>(mode)) {
+    case RpcMotionModeImmediate:
+        motion_mode = MotionMode::Immediate;
+        break;
+    case RpcMotionModeSCurve:
+        motion_mode = MotionMode::SCurve;
+        break;
+    case 2:
+        motion_mode = MotionMode::Follow;
+        break;
+    default:
+        rt_kprintf("[ServoService][E] setMode: invalid mode=%d\n", (int)mode);
+        return false;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    mode_ = motion_mode;
+    rt_mutex_release(mutex_);
+
+    rt_kprintf("[ServoService] setMode: mode=%d\n", (int)mode);
+    return true;
+}
+
+bool ServoServiceImpl::setUpdatePeriodMs(uint32_t ms)
+{
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] setUpdatePeriodMs: service not ready, init_err=%d\n",
+                   (int)init_err_);
+        return false;
+    }
+
+    manager_.setUpdatePeriodMs(ms);
+    manager_.wake();
+
+    rt_kprintf("[ServoService] setUpdatePeriodMs: ms=%u\n", (unsigned)ms);
+    return true;
+}
+
+int32_t ServoServiceImpl::move(const list_ServoCmd_1_t* cmds)
+{
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] move: service not ready, init_err=%d\n",
+                   (int)init_err_);
+        return init_err_;
+    }
+
+    if (!cmds) {
+        rt_kprintf("[ServoService][E] move: cmds is null\n");
+        return -RT_EINVAL;
+    }
+
+    if (!cmds->elements || cmds->elementsCount == 0) {
+        rt_kprintf("[ServoService][E] move: empty list (elements=%p, count=%d)\n",
+                   cmds->elements,
+                   (int)cmds->elementsCount);
+        return -RT_EINVAL;
+    }
+
+    if (!mutex_) {
+        rt_kprintf("[ServoService][E] move: mutex is null\n");
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const MotionMode motion_mode = mode_;
+    rt_mutex_release(mutex_);
+
+    for (uint32_t i = 0; i < cmds->elementsCount; ++i) {
+        const char* id = cmds->elements[i].id;
+        if (!id) {
+            rt_kprintf("[ServoService][E] move: cmds[%d].id is null\n", (int)i);
+            return -RT_EINVAL;
+        }
+
+        ServoControl* servo = manager_.get(std::string(id));
+        if (!servo) {
+            rt_kprintf("[ServoService][E] move: servo not found, id=%s\n", id);
+            return -RT_ENOSYS;
+        }
+
+        const rt_err_t err = servo->move(cmds->elements[i].angle_rad, motion_mode);
+        if (err != RT_EOK) {
+            rt_kprintf("[ServoService][E] move: move failed, id=%s angle=%.4f mode=%d err=%d\n",
+                       id,
+                       (double)cmds->elements[i].angle_rad,
+                       (int)motion_mode,
+                       (int)err);
+            return err;
+        }
+    }
+
+    if (motion_mode != MotionMode::Immediate) {
+        manager_.wake();
+    }
+
+    return RT_EOK;
+}
+
+int32_t ServoServiceImpl::moveJ(const list_float_1_t* angles_rad)
+{
+    if (init_err_ != RT_EOK) {
+        rt_kprintf("[ServoService][E] moveJ: service not ready, init_err=%d\n",
+                   (int)init_err_);
+        return init_err_;
+    }
+
+    if (!angles_rad) {
+        rt_kprintf("[ServoService][E] moveJ: angles_rad is null\n");
+        return -RT_EINVAL;
+    }
+
+    if (!angles_rad->elements || angles_rad->elementsCount == 0) {
+        rt_kprintf("[ServoService][E] moveJ: empty list (elements=%p, count=%d)\n",
+                   angles_rad->elements,
+                   (int)angles_rad->elementsCount);
+        return -RT_EINVAL;
+    }
+
+    const size_t need = manager_.count();
+    const size_t got = (size_t)angles_rad->elementsCount;
+    if (got != need) {
+        rt_kprintf("[ServoService][E] moveJ: invalid angles count, need=%d got=%d\n",
+                   (int)need,
+                   (int)got);
+        return -RT_EINVAL;
+    }
+
+    if (!mutex_) {
+        rt_kprintf("[ServoService][E] moveJ: mutex is null\n");
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const MotionMode motion_mode = mode_;
+    rt_mutex_release(mutex_);
+
+    for (size_t i = 0; i < need; ++i) {
+        ServoControl* servo = manager_.get(i);
+        if (!servo) {
+            rt_kprintf("[ServoService][E] moveJ: servo not found, index=%d\n", (int)i);
+            return -RT_ENOSYS;
+        }
+
+        const rt_err_t err = servo->move(angles_rad->elements[i], motion_mode);
+        if (err != RT_EOK) {
+            rt_kprintf("[ServoService][E] moveJ: move failed, id=%s angle=%.4f mode=%d err=%d\n",
+                       servo->id().c_str(),
+                       (double)angles_rad->elements[i],
+                       (int)motion_mode,
+                       (int)err);
+            return err;
+        }
+    }
+
+    if (motion_mode != MotionMode::Immediate) {
+        manager_.wake();
+    }
+
+    return RT_EOK;
+}

applications/main.cpp

@@ -8,42 +8,29 @@
  * 2019-03-05     whj4674672   first version
  */
 
-#include <rtthread.h>
 #include <rtdevice.h>
+#include <rtthread.h>
 #include <board.h>
 
-/* defined the LED0 pin: PB1 */
+#include "fal.h"
-#define LED0_PIN    GET_PIN(C, 13)
 
+/* defined the LED0 pin: PC13 */
+#define LED0_PIN    GET_PIN(A, 4)
 
 int main(void)
 {
     int count = 1;
-    /* set LED0 pin mode to output */	
-    rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
-    rt_pin_mode(GET_PIN(D, 0), PIN_MODE_OUTPUT);
 
+    fal_init();
+    rt_pin_mode(LED0_PIN, PIN_MODE_OUTPUT);
 
     while (count++)
     {
         rt_pin_write(LED0_PIN, PIN_HIGH);
-        rt_thread_mdelay(100);
+        rt_thread_mdelay(500);
         rt_pin_write(LED0_PIN, PIN_LOW);
-        rt_thread_mdelay(100);
+        rt_thread_mdelay(500);
-        // rt_kprintf("Hello RT-Thread!\n");
     }
+
     return RT_EOK;
 }
-static inline int dwt_init(void)
-{
-    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
-    DWT->CYCCNT = 0;
-    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
-    return 0;
-}
-
-INIT_APP_EXPORT(dwt_init);
-
-
-
-

applications/planner/SConscript

@@ -0,0 +1,10 @@
+from building import *
+import os
+
+cwd = GetCurrentDir()
+src = Glob('s_curve_planner/src/*.cpp')
+CPPPATH = [cwd]
+
+group = DefineGroup('controller', src, depend = [''], CPPPATH = CPPPATH)
+
+Return('group')

applications/planner/s_curve_planner/include/s_curve_position_planner.h

@@ -0,0 +1,100 @@
+//
+// Created by lgv on 2026/3/10.
+//
+
+#pragma once
+
+#include "s_curve_velocity_planner.h"
+
+#include <algorithm>
+#include <cmath>
+
+namespace cmvr
+{
+
+struct SCurvePositionPlannerState
+{
+  double position;
+  double velocity;
+  double acceleration;
+  double jerk;
+  double target_position;
+  bool is_moving;
+
+  SCurvePositionPlannerState()
+    : position(0.0)
+    , velocity(0.0)
+    , acceleration(0.0)
+    , jerk(0.0)
+    , target_position(0.0)
+    , is_moving(false)
+  {}
+};
+
+/**
+ * @brief 单轴位置跟踪规划器
+ *
+ * 结构：
+ * - 外环：position_error -> desired_velocity
+ * - 内环：SCurveVelocityPlanner1D 负责 jerk-limited 速度规划
+ *
+ * 这个类用于高频变化目标的位置跟踪，不承担严格点到点 profile 语义。
+ */
+class SCurvePositionPlanner1D
+{
+public:
+  SCurvePositionPlanner1D(double max_velocity = 3.0,
+                          double max_acceleration = 10.0,
+                          double max_jerk = 50.0);
+
+  void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
+  void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
+
+  void setPositionGain(double position_gain);
+  double getPositionGain() const { return position_gain_; }
+
+  void initialize(double position, double velocity = 0.0, double acceleration = 0.0);
+  void reset();
+
+  void setTarget(double target_position);
+  double update(double dt);
+
+  const SCurvePositionPlannerState& getState() const { return state_; }
+  double getPosition() const { return state_.position; }
+  double getVelocity() const { return state_.velocity; }
+  double getAcceleration() const { return state_.acceleration; }
+  double getJerk() const { return state_.jerk; }
+  double getTargetPosition() const { return state_.target_position; }
+  bool isMoving() const { return state_.is_moving; }
+
+private:
+  double max_velocity_;
+  double max_acceleration_;
+  double max_jerk_;
+
+  SCurvePositionPlannerState state_;
+  SCurveVelocityPlanner1D velocity_planner_;
+  double position_gain_;
+
+  static constexpr double EPSILON = 1e-9;
+  static constexpr double VELOCITY_THRESHOLD = 1e-6;
+  static constexpr double ACCELERATION_THRESHOLD = 1e-6;
+  static constexpr double POSITION_THRESHOLD = 1e-7;
+
+  double computeDesiredVelocity(double position_error) const;
+  double computePlannerStoppingDistance(double velocity, double acceleration) const;
+
+  static double clamp(double value, double min_val, double max_val)
+  {
+    return std::max(min_val, std::min(max_val, value));
+  }
+
+  static double sign(double value)
+  {
+    if (value > EPSILON) return 1.0;
+    if (value < -EPSILON) return -1.0;
+    return 0.0;
+  }
+};
+
+}  // namespace cmvr

applications/planner/s_curve_planner/include/s_curve_velocity_planner.h

@@ -0,0 +1,240 @@
+//
+// Created by lgv on 2026/3/9.
+//
+
+#pragma once
+
+#include <algorithm>
+#include <cmath>
+#include <vector>
+
+namespace cmvr
+{
+
+/**
+ * @brief 单次速度切换的 S 曲线剖面参数
+ *
+ * 本类表示从任意 (v0, a0) 连续规划到 (vf, 0) 的 3 段 jerk-limited profile：
+ *
+ *   seg1: jerk = j1, duration = t1
+ *   seg2: jerk = j2, duration = t2   (当前实现 j2 = 0)
+ *   seg3: jerk = j3, duration = t3
+ *
+ * 其中 j1/j3 为 ±j_max，j2 为 0。
+ */
+struct SCurveVelocityProfile
+{
+  double t1;
+  double t2;
+  double t3;
+
+  double total_time;
+
+  double j1;
+  double j2;
+  double j3;
+
+  double v0;
+  double a0;
+  double vf;
+
+  bool valid;
+
+  SCurveVelocityProfile()
+    : t1(0.0), t2(0.0), t3(0.0)
+    , total_time(0.0)
+    , j1(0.0), j2(0.0), j3(0.0)
+    , v0(0.0), a0(0.0), vf(0.0)
+    , valid(false)
+  {}
+};
+
+/**
+ * @brief S 曲线速度规划器状态
+ */
+struct SCurveVelocityPlannerState
+{
+  double velocity;
+  double acceleration;
+  double jerk;
+
+  double target_velocity;
+
+  double elapsed_time;
+  bool has_active_profile;
+  bool is_moving;
+
+  SCurveVelocityPlannerState()
+    : velocity(0.0)
+    , acceleration(0.0)
+    , jerk(0.0)
+    , target_velocity(0.0)
+    , elapsed_time(0.0)
+    , has_active_profile(false)
+    , is_moving(false)
+  {}
+};
+
+/**
+ * @brief 单轴速度型 S 曲线规划器
+ *
+ * 语义：
+ * - setTargetVelocity(v): 设置新目标并重规划
+ * - update(dt): 只采样当前 active profile
+ * - overwriteState(v,a): 仅覆盖当前状态并清掉旧 profile
+ * - synchronizeAndReplan(v,a): 用测量状态同步，并按当前目标重规划
+ *
+ * 数学目标：
+ * - 从任意 (v0, a0) 连续规划到 (vf, 0)
+ * - 满足 |v| <= v_max, |a| <= a_max, |j| <= j_max
+ */
+class SCurveVelocityPlanner1D
+{
+public:
+  SCurveVelocityPlanner1D(double max_velocity = 1.0,
+                          double max_acceleration = 1.0,
+                          double max_jerk = 5.0);
+
+  void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
+  void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
+
+  /**
+   * @brief 设置目标变化阈值
+   *
+   * 目标变化量小于该阈值时，不触发重规划。
+   */
+  void setTargetReplanThreshold(double threshold);
+
+  /**
+   * @brief 设置同步反馈时的重规划阈值
+   *
+   * 测量速度与当前 profile 采样状态的偏差小于该阈值时，
+   * synchronizeAndReplan() 只对齐当前状态，不打断现有 profile。
+   */
+  void setSynchronizeReplanThreshold(double threshold);
+
+  void initialize(double velocity = 0.0, double acceleration = 0.0);
+  void reset();
+
+  /**
+   * @brief 仅覆盖当前状态，并清掉旧 profile
+   *
+   * 注意：
+   * - 这个接口不会自动重规划
+   * - 用于初始化、调试、或显式中断旧轨迹
+   */
+  void overwriteState(double velocity,
+                      double acceleration = 0.0,
+                      bool keep_target_velocity = true);
+
+  /**
+   * @brief 用测量状态同步，并按当前目标重新规划
+   *
+   * 这是闭环场景真正该用的接口。
+   */
+  void synchronizeAndReplan(double velocity,
+                            double acceleration = 0.0);
+
+  /**
+   * @brief 设置目标速度，并立即重规划
+   */
+  void setTargetVelocity(double target_velocity);
+
+  /**
+   * @brief 平滑停下
+   */
+  void stop() { setTargetVelocity(0.0); }
+
+  /**
+   * @brief 更新一步（只采样）
+   * @param dt 时间步长
+   * @return 当前采样后的速度
+   */
+  double update(double dt);
+
+  /**
+   * @brief 计算单次速度切换剖面
+   */
+  SCurveVelocityProfile calculateProfile(double start_velocity,
+                                         double end_velocity,
+                                         double start_acceleration = 0.0) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的速度
+   */
+  double getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的加速度
+   */
+  double getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const;
+
+  /**
+   * @brief 给定剖面下，获取时刻 t 的 jerk
+   */
+  double getJerkAtTime(const SCurveVelocityProfile& profile, double t) const;
+
+  /**
+   * @brief 按固定时间间隔生成轨迹点
+   */
+  void generateTrajectory(const SCurveVelocityProfile& profile, double dt,
+                          std::vector<double>& velocities,
+                          std::vector<double>& accelerations,
+                          std::vector<double>& jerks) const;
+
+  const SCurveVelocityPlannerState& getState() const { return state_; }
+  const SCurveVelocityProfile& getActiveProfile() const { return active_profile_; }
+
+  double getVelocity() const { return state_.velocity; }
+  double getAcceleration() const { return state_.acceleration; }
+  double getJerk() const { return state_.jerk; }
+  double getTargetVelocity() const { return state_.target_velocity; }
+  bool hasActiveProfile() const { return state_.has_active_profile; }
+  bool isMoving() const { return state_.is_moving; }
+
+private:
+  double max_velocity_;
+  double max_acceleration_;
+  double max_jerk_;
+
+  double target_replan_threshold_;
+  double synchronize_replan_threshold_;
+
+  SCurveVelocityPlannerState state_;
+  SCurveVelocityProfile active_profile_;
+
+  static constexpr double EPSILON = 1e-9;
+  static constexpr double VELOCITY_THRESHOLD = 1e-6;
+  static constexpr double ACCELERATION_THRESHOLD = 1e-6;
+  static constexpr double DEFAULT_TARGET_REPLAN_THRESHOLD = 1e-9;
+  static constexpr double DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD = 5e-2;
+
+private:
+  void updateIsMovingFlag();
+
+  /**
+   * @brief 判断 profile 是否满足速度上限
+   */
+  bool isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const;
+
+  /**
+   * @brief 计算完整剖面终点状态
+   */
+  void integrateWholeProfile(const SCurveVelocityProfile& profile,
+                             double& v_end,
+                             double& a_end) const;
+
+  static double clamp(double value, double min_val, double max_val)
+  {
+    return std::max(min_val, std::min(max_val, value));
+  }
+
+  static double sign(double value)
+  {
+    if (value > EPSILON) return 1.0;
+    if (value < -EPSILON) return -1.0;
+    return 0.0;
+  }
+};
+
+} // namespace cmvr

applications/planner/s_curve_planner/src/s_curve_position_planner.cpp

@@ -0,0 +1,193 @@
+//
+// Created by lgv on 2026/3/10.
+//
+
+#include "planner/s_curve_planner/include/s_curve_position_planner.h"
+
+#include <algorithm>
+#include <cmath>
+
+namespace cmvr
+{
+
+SCurvePositionPlanner1D::SCurvePositionPlanner1D(double max_velocity,
+                                                 double max_acceleration,
+                                                 double max_jerk)
+  : max_velocity_(std::abs(max_velocity))
+  , max_acceleration_(std::abs(max_acceleration))
+  , max_jerk_(std::abs(max_jerk))
+  , velocity_planner_(max_velocity_, max_acceleration_, max_jerk_)
+  , position_gain_(1.0)
+{
+  velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_));
+  reset();
+}
+
+void SCurvePositionPlanner1D::setConstraints(double max_velocity,
+                                             double max_acceleration,
+                                             double max_jerk)
+{
+  max_velocity_ = std::abs(max_velocity);
+  max_acceleration_ = std::abs(max_acceleration);
+  max_jerk_ = std::abs(max_jerk);
+  velocity_planner_.setConstraints(max_velocity_, max_acceleration_, max_jerk_);
+  velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_));
+}
+
+void SCurvePositionPlanner1D::getConstraints(double& max_velocity,
+                                             double& max_acceleration,
+                                             double& max_jerk) const
+{
+  max_velocity = max_velocity_;
+  max_acceleration = max_acceleration_;
+  max_jerk = max_jerk_;
+}
+
+void SCurvePositionPlanner1D::setPositionGain(double position_gain)
+{
+  position_gain_ = std::max(0.0, position_gain);
+}
+
+void SCurvePositionPlanner1D::initialize(double position, double velocity, double acceleration)
+{
+  state_.position = position;
+  velocity_planner_.initialize(velocity, acceleration);
+  state_.velocity = velocity_planner_.getVelocity();
+  state_.acceleration = velocity_planner_.getAcceleration();
+  state_.jerk = 0.0;
+  state_.target_position = position;
+  state_.is_moving = false;
+}
+
+void SCurvePositionPlanner1D::reset()
+{
+  state_ = SCurvePositionPlannerState();
+  velocity_planner_.reset();
+}
+
+void SCurvePositionPlanner1D::setTarget(double target_position)
+{
+  state_.target_position = target_position;
+}
+
+double SCurvePositionPlanner1D::update(double dt)
+{
+  if (dt <= 0.0 || dt > 0.1) {
+    return state_.position;
+  }
+
+  const double position_error = state_.target_position - state_.position;
+  if (std::abs(position_error) < POSITION_THRESHOLD &&
+      std::abs(velocity_planner_.getVelocity()) < VELOCITY_THRESHOLD &&
+      std::abs(velocity_planner_.getAcceleration()) < ACCELERATION_THRESHOLD) {
+    velocity_planner_.overwriteState(0.0, 0.0, false);
+    state_.position = state_.target_position;
+    state_.velocity = 0.0;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    state_.is_moving = false;
+    return state_.position;
+  }
+
+  velocity_planner_.setTargetVelocity(computeDesiredVelocity(position_error));
+
+  const double old_velocity = velocity_planner_.getVelocity();
+  const double new_velocity = velocity_planner_.update(dt);
+
+  state_.velocity = new_velocity;
+  state_.acceleration = velocity_planner_.getAcceleration();
+  state_.jerk = velocity_planner_.getJerk();
+  state_.position += 0.5 * (old_velocity + new_velocity) * dt;
+
+  const double updated_error = state_.target_position - state_.position;
+  if (std::abs(updated_error) < POSITION_THRESHOLD &&
+      std::abs(state_.velocity) < VELOCITY_THRESHOLD &&
+      std::abs(state_.acceleration) < ACCELERATION_THRESHOLD) {
+    velocity_planner_.overwriteState(0.0, 0.0, false);
+    state_.position = state_.target_position;
+    state_.velocity = 0.0;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    state_.is_moving = false;
+    return state_.position;
+  }
+
+  state_.is_moving = velocity_planner_.isMoving() ||
+                     std::abs(updated_error) > POSITION_THRESHOLD;
+  return state_.position;
+}
+
+double SCurvePositionPlanner1D::computeDesiredVelocity(double position_error) const
+{
+  if (std::abs(position_error) <= POSITION_THRESHOLD) {
+    return 0.0;
+  }
+
+  const double proportional_velocity =
+      clamp(position_gain_ * position_error, -max_velocity_, max_velocity_);
+
+  return proportional_velocity;
+  const double current_velocity = velocity_planner_.getVelocity();
+  const double current_acceleration = velocity_planner_.getAcceleration();
+  const double stopping_distance =
+      computePlannerStoppingDistance(current_velocity, current_acceleration);
+
+  if (std::abs(current_velocity) > VELOCITY_THRESHOLD &&
+      sign(current_velocity) != sign(position_error)) {
+    return 0.0;
+  }
+
+  if (std::abs(current_velocity) > VELOCITY_THRESHOLD &&
+      sign(current_velocity) == sign(position_error) &&
+      std::abs(position_error) <= std::abs(stopping_distance) * 1.05) {
+    return 0.0;
+  }
+
+  double low = 0.0;
+  double high = max_velocity_;
+  for (int i = 0; i < 40; ++i) {
+    const double mid = 0.5 * (low + high);
+    const double distance =
+        std::abs(computePlannerStoppingDistance(sign(position_error) * mid, 0.0));
+    if (distance <= std::abs(position_error)) {
+      low = mid;
+    } else {
+      high = mid;
+    }
+  }
+
+  return sign(position_error) *
+         std::min(std::abs(proportional_velocity), low);
+}
+
+double SCurvePositionPlanner1D::computePlannerStoppingDistance(double velocity,
+                                                               double acceleration) const
+{
+  if (std::abs(velocity) <= VELOCITY_THRESHOLD &&
+      std::abs(acceleration) <= ACCELERATION_THRESHOLD) {
+    return 0.0;
+  }
+
+  const auto profile = velocity_planner_.calculateProfile(velocity, 0.0, acceleration);
+  if (!profile.valid || profile.total_time <= EPSILON) {
+    return 0.0;
+  }
+
+  const int steps = std::max(16, static_cast<int>(std::ceil(profile.total_time / 0.002)));
+  const double dt = profile.total_time / static_cast<double>(steps);
+
+  double distance = 0.0;
+  double previous_time = 0.0;
+  double previous_velocity = velocity_planner_.getVelocityAtTime(profile, 0.0);
+  for (int i = 1; i <= steps; ++i) {
+    const double t = (i == steps) ? profile.total_time : i * dt;
+    const double current_velocity = velocity_planner_.getVelocityAtTime(profile, t);
+    distance += 0.5 * (previous_velocity + current_velocity) * (t - previous_time);
+    previous_time = t;
+    previous_velocity = current_velocity;
+  }
+
+  return distance;
+}
+
+}  // namespace cmvr

applications/planner/s_curve_planner/src/s_curve_velocity_planner.cpp

@@ -0,0 +1,562 @@
+//
+// Created by lgv on 2026/3/9.
+//
+
+#include "../include/s_curve_velocity_planner.h"
+
+#include <cmath>
+#include <limits>
+
+namespace cmvr
+{
+
+SCurveVelocityPlanner1D::SCurveVelocityPlanner1D(double max_velocity,
+                                                 double max_acceleration,
+                                                 double max_jerk)
+  : max_velocity_(std::abs(max_velocity))
+  , max_acceleration_(std::abs(max_acceleration))
+  , max_jerk_(std::abs(max_jerk))
+  , target_replan_threshold_(DEFAULT_TARGET_REPLAN_THRESHOLD)
+  , synchronize_replan_threshold_(DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD)
+{
+  reset();
+}
+
+void SCurveVelocityPlanner1D::setConstraints(double max_velocity,
+                                             double max_acceleration,
+                                             double max_jerk)
+{
+  max_velocity_ = std::abs(max_velocity);
+  max_acceleration_ = std::abs(max_acceleration);
+  max_jerk_ = std::abs(max_jerk);
+
+  state_.velocity = clamp(state_.velocity, -max_velocity_, max_velocity_);
+  state_.acceleration = clamp(state_.acceleration, -max_acceleration_, max_acceleration_);
+  state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_);
+
+  if (state_.has_active_profile) {
+    active_profile_ = calculateProfile(state_.velocity,
+                                       state_.target_velocity,
+                                       state_.acceleration);
+    state_.elapsed_time = 0.0;
+    state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON;
+  }
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::getConstraints(double& max_velocity,
+                                             double& max_acceleration,
+                                             double& max_jerk) const
+{
+  max_velocity = max_velocity_;
+  max_acceleration = max_acceleration_;
+  max_jerk = max_jerk_;
+}
+
+void SCurveVelocityPlanner1D::setTargetReplanThreshold(double threshold)
+{
+  target_replan_threshold_ = std::max(0.0, threshold);
+}
+
+void SCurveVelocityPlanner1D::setSynchronizeReplanThreshold(double threshold)
+{
+  synchronize_replan_threshold_ = std::max(0.0, threshold);
+}
+
+void SCurveVelocityPlanner1D::initialize(double velocity, double acceleration)
+{
+  state_ = SCurveVelocityPlannerState();
+  state_.velocity = clamp(velocity, -max_velocity_, max_velocity_);
+  state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_);
+  state_.jerk = 0.0;
+  state_.target_velocity = state_.velocity;
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = false;
+
+  active_profile_ = SCurveVelocityProfile();
+  active_profile_.v0 = state_.velocity;
+  active_profile_.a0 = state_.acceleration;
+  active_profile_.vf = state_.velocity;
+  active_profile_.valid = false;
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::reset()
+{
+  state_ = SCurveVelocityPlannerState();
+  active_profile_ = SCurveVelocityProfile();
+}
+
+void SCurveVelocityPlanner1D::overwriteState(double velocity,
+                                             double acceleration,
+                                             bool keep_target_velocity)
+{
+  state_.velocity = clamp(velocity, -max_velocity_, max_velocity_);
+  state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_);
+  state_.jerk = 0.0;
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = false;
+
+  if (!keep_target_velocity) {
+    state_.target_velocity = state_.velocity;
+  } else {
+    state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_);
+  }
+
+  active_profile_ = SCurveVelocityProfile();
+  active_profile_.v0 = state_.velocity;
+  active_profile_.a0 = state_.acceleration;
+  active_profile_.vf = state_.target_velocity;
+  active_profile_.valid = false;
+
+  updateIsMovingFlag();
+}
+
+  void SCurveVelocityPlanner1D::synchronizeAndReplan(double velocity,
+                                                     double acceleration)
+{
+  const double measured_velocity = clamp(velocity, -max_velocity_, max_velocity_);
+  const double measured_acceleration =
+      clamp(acceleration, -max_acceleration_, max_acceleration_);
+
+  if (!state_.has_active_profile &&
+      std::abs(measured_velocity - state_.target_velocity) <= VELOCITY_THRESHOLD) {
+    state_.velocity = state_.target_velocity;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    updateIsMovingFlag();
+    return;
+      }
+
+  // 如果测量值已经基本落在当前采样状态上，就继续沿现有 profile 走。
+  // 否则每拍都从同一目标重规划，会把已经进入的 jerk phase 反复打断。
+  if (state_.has_active_profile &&
+      std::abs(measured_velocity - state_.velocity) <= synchronize_replan_threshold_) {
+    state_.velocity = measured_velocity;
+    state_.acceleration = measured_acceleration;
+    state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time);
+    updateIsMovingFlag();
+    return;
+      }
+
+  state_.velocity = measured_velocity;
+  state_.acceleration = measured_acceleration;
+  state_.jerk = 0.0;
+
+  active_profile_ = calculateProfile(state_.velocity,
+                                     state_.target_velocity,
+                                     state_.acceleration);
+
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = active_profile_.total_time > EPSILON;
+
+  updateIsMovingFlag();
+}
+
+void SCurveVelocityPlanner1D::setTargetVelocity(double target_velocity)
+{
+  const double new_target = clamp(target_velocity, -max_velocity_, max_velocity_);
+
+  const bool same_target =
+      std::abs(new_target - state_.target_velocity) <= target_replan_threshold_;
+
+  if (same_target &&
+      state_.has_active_profile) {
+    return;
+  }
+
+  if (same_target &&
+      !state_.has_active_profile &&
+      std::abs(state_.velocity - new_target) <= VELOCITY_THRESHOLD &&
+      std::abs(state_.acceleration) <= ACCELERATION_THRESHOLD) {
+    return;
+  }
+
+  state_.target_velocity = new_target;
+
+  active_profile_ = calculateProfile(state_.velocity,
+                                     state_.target_velocity,
+                                     state_.acceleration);
+
+  state_.elapsed_time = 0.0;
+  state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON;
+
+  updateIsMovingFlag();
+}
+
+double SCurveVelocityPlanner1D::getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const
+{
+  if (!profile.valid) {
+    return profile.v0;
+  }
+
+  if (t <= 0.0) {
+    return profile.v0;
+  }
+  if (t >= profile.total_time) {
+    return profile.vf;
+  }
+
+  double v = profile.v0;
+  double a = profile.a0;
+
+  auto process_segment = [&](double dt, double jerk) {
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  // seg1
+  if (t <= profile.t1) {
+    process_segment(t, profile.j1);
+    return v;
+  }
+  process_segment(profile.t1, profile.j1);
+
+  // seg2
+  const double t_after_1 = t - profile.t1;
+  if (t_after_1 <= profile.t2) {
+    process_segment(t_after_1, profile.j2);
+    return v;
+  }
+  process_segment(profile.t2, profile.j2);
+
+  // seg3
+  const double t_after_2 = t_after_1 - profile.t2;
+  process_segment(t_after_2, profile.j3);
+  return v;
+}
+
+double SCurveVelocityPlanner1D::getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const
+{
+  if (!profile.valid) {
+    return profile.a0;
+  }
+
+  if (t <= 0.0) {
+    return profile.a0;
+  }
+  if (t >= profile.total_time) {
+    return 0.0;
+  }
+
+  double a = profile.a0;
+
+  auto process_segment = [&](double dt, double jerk) {
+    a += jerk * dt;
+  };
+
+  // seg1
+  if (t <= profile.t1) {
+    process_segment(t, profile.j1);
+    return a;
+  }
+  process_segment(profile.t1, profile.j1);
+
+  // seg2
+  const double t_after_1 = t - profile.t1;
+  if (t_after_1 <= profile.t2) {
+    process_segment(t_after_1, profile.j2);
+    return a;
+  }
+  process_segment(profile.t2, profile.j2);
+
+  // seg3
+  const double t_after_2 = t_after_1 - profile.t2;
+  process_segment(t_after_2, profile.j3);
+  return a;
+}
+
+double SCurveVelocityPlanner1D::getJerkAtTime(const SCurveVelocityProfile& profile, double t) const
+{
+  if (!profile.valid) {
+    return 0.0;
+  }
+
+  if (t <= 0.0 || t >= profile.total_time) {
+    return 0.0;
+  }
+
+  if (t <= profile.t1) {
+    return profile.j1;
+  }
+  if (t <= profile.t1 + profile.t2) {
+    return profile.j2;
+  }
+  return profile.j3;
+}
+
+void SCurveVelocityPlanner1D::integrateWholeProfile(const SCurveVelocityProfile& profile,
+                                                    double& v_end,
+                                                    double& a_end) const
+{
+  double v = profile.v0;
+  double a = profile.a0;
+
+  auto process_segment = [&](double dt, double jerk) {
+    v += a * dt + 0.5 * jerk * dt * dt;
+    a += jerk * dt;
+  };
+
+  process_segment(profile.t1, profile.j1);
+  process_segment(profile.t2, profile.j2);
+  process_segment(profile.t3, profile.j3);
+
+  v_end = v;
+  a_end = a;
+}
+
+bool SCurveVelocityPlanner1D::isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const
+{
+  if (!profile.valid) {
+    return true;
+  }
+
+  std::vector<double> check_times;
+  check_times.reserve(8);
+
+  check_times.push_back(0.0);
+  check_times.push_back(profile.t1);
+  check_times.push_back(profile.t1 + profile.t2);
+  check_times.push_back(profile.total_time);
+
+  // seg1 内部若 acceleration 过零，则 velocity 可能在段内出现极值
+  if (std::abs(profile.j1) > EPSILON && profile.t1 > EPSILON) {
+    const double tz = -profile.a0 / profile.j1;
+    if (tz > EPSILON && tz < profile.t1 - EPSILON) {
+      check_times.push_back(tz);
+    }
+  }
+
+  for (double t : check_times) {
+    const double v = getVelocityAtTime(profile, t);
+    if (std::abs(v) > max_velocity_ + 1e-7) {
+      return false;
+    }
+  }
+
+  return true;
+}
+
+SCurveVelocityProfile SCurveVelocityPlanner1D::calculateProfile(double start_velocity,
+                                                                double end_velocity,
+                                                                double start_acceleration) const
+{
+  SCurveVelocityProfile best;
+  best.v0 = clamp(start_velocity, -max_velocity_, max_velocity_);
+  best.a0 = clamp(start_acceleration, -max_acceleration_, max_acceleration_);
+  best.vf = clamp(end_velocity, -max_velocity_, max_velocity_);
+
+  if (max_jerk_ <= EPSILON || max_acceleration_ <= EPSILON) {
+    // 退化情况：这里不做特殊退化规划，直接返回 invalid
+    return best;
+  }
+
+  const double v0 = best.v0;
+  const double a0 = best.a0;
+  const double vf = best.vf;
+
+  // 目标方向坐标：尽量统一到“signed frame 下 Δv >= 0”
+  double s = sign(vf - v0);
+  if (std::abs(vf - v0) <= VELOCITY_THRESHOLD) {
+    s = 1.0;
+  }
+
+  const double dv = s * (vf - v0);   // >= 0
+  const double a0s = s * a0;         // signed frame 下的初始 acceleration
+  const double j = max_jerk_;
+  const double amax = max_acceleration_;
+
+  auto normalize_nonnegative = [](double x) {
+    return (x < 0.0 && x > -1e-10) ? 0.0 : x;
+  };
+
+  auto try_candidate = [&](double t1, double t2, double t3,
+                           double j1s, double j2s, double j3s) {
+    t1 = normalize_nonnegative(t1);
+    t2 = normalize_nonnegative(t2);
+    t3 = normalize_nonnegative(t3);
+
+    if (t1 < 0.0 || t2 < 0.0 || t3 < 0.0) {
+      return;
+    }
+
+    SCurveVelocityProfile cand;
+    cand.t1 = t1;
+    cand.t2 = t2;
+    cand.t3 = t3;
+    cand.total_time = t1 + t2 + t3;
+
+    cand.j1 = s * j1s;
+    cand.j2 = s * j2s;
+    cand.j3 = s * j3s;
+
+    cand.v0 = v0;
+    cand.a0 = a0;
+    cand.vf = vf;
+    cand.valid = true;
+
+    double vend = 0.0;
+    double aend = 0.0;
+    integrateWholeProfile(cand, vend, aend);
+
+    if (std::abs(vend - vf) > 1e-5) {
+      return;
+    }
+    if (std::abs(aend) > 1e-5) {
+      return;
+    }
+    if (!isVelocityLimitSatisfied(cand)) {
+      return;
+    }
+
+    if (!best.valid || cand.total_time < best.total_time) {
+      best = cand;
+    }
+  };
+
+  // ---------------- UDU 三角形（无平台） ----------------
+  {
+    // Δv = (2A^2 - a0^2)/(2j)
+    const double A2 = 0.5 * (2.0 * j * dv + a0s * a0s);
+    if (A2 >= -1e-10) {
+      const double A = std::sqrt(std::max(0.0, A2));
+      if (A <= amax + 1e-10 && A >= a0s - 1e-10) {
+        const double t1 = (A - a0s) / j;
+        const double t2 = 0.0;
+        const double t3 = A / j;
+        try_candidate(t1, t2, t3, +j, 0.0, -j);
+      }
+    }
+  }
+
+  // ---------------- UDU 梯形（有平台） ----------------
+  {
+    const double A = amax;
+    if (A > EPSILON && A >= a0s - 1e-10) {
+      const double base = (2.0 * A * A - a0s * a0s) / (2.0 * j);
+      const double t1 = (A - a0s) / j;
+      const double t2 = (dv - base) / A;
+      const double t3 = A / j;
+      try_candidate(t1, t2, t3, +j, 0.0, -j);
+    }
+  }
+
+  // ---------------- DUD 三角形（无平台） ----------------
+  {
+    // Δv = (a0^2 - 2B^2)/(2j)
+    const double B2 = 0.5 * (a0s * a0s - 2.0 * j * dv);
+    if (B2 >= -1e-10) {
+      const double B = std::sqrt(std::max(0.0, B2));
+      if (B <= amax + 1e-10 && B >= -a0s - 1e-10) {
+        const double t1 = (a0s + B) / j;
+        const double t2 = 0.0;
+        const double t3 = B / j;
+        try_candidate(t1, t2, t3, -j, 0.0, +j);
+      }
+    }
+  }
+
+  // ---------------- DUD 梯形（有平台） ----------------
+  {
+    const double B = amax;
+    if (B > EPSILON && B >= -a0s - 1e-10) {
+      const double base = (a0s * a0s - 2.0 * B * B) / (2.0 * j);
+      const double t1 = (a0s + B) / j;
+      const double t2 = (base - dv) / B;
+      const double t3 = B / j;
+      try_candidate(t1, t2, t3, -j, 0.0, +j);
+    }
+  }
+
+  // 已到终点附近
+  if (!best.valid &&
+      std::abs(vf - v0) <= VELOCITY_THRESHOLD &&
+      std::abs(a0) <= ACCELERATION_THRESHOLD) {
+    best.valid = false;
+    best.total_time = 0.0;
+    best.v0 = v0;
+    best.a0 = a0;
+    best.vf = vf;
+  }
+
+  return best;
+}
+
+void SCurveVelocityPlanner1D::generateTrajectory(const SCurveVelocityProfile& profile, double dt,
+                                                 std::vector<double>& velocities,
+                                                 std::vector<double>& accelerations,
+                                                 std::vector<double>& jerks) const
+{
+  velocities.clear();
+  accelerations.clear();
+  jerks.clear();
+
+  if (!profile.valid || profile.total_time <= 0.0 || dt <= 0.0) {
+    velocities.push_back(profile.v0);
+    accelerations.push_back(profile.a0);
+    jerks.push_back(0.0);
+    return;
+  }
+
+  const int num_points = static_cast<int>(std::ceil(profile.total_time / dt)) + 1;
+  velocities.reserve(num_points);
+  accelerations.reserve(num_points);
+  jerks.reserve(num_points);
+
+  for (double t = 0.0; t <= profile.total_time; t += dt) {
+    velocities.push_back(getVelocityAtTime(profile, t));
+    accelerations.push_back(getAccelerationAtTime(profile, t));
+    jerks.push_back(getJerkAtTime(profile, t));
+  }
+
+  if (velocities.empty() || std::abs(velocities.back() - profile.vf) > VELOCITY_THRESHOLD) {
+    velocities.push_back(profile.vf);
+    accelerations.push_back(0.0);
+    jerks.push_back(0.0);
+  }
+}
+
+double SCurveVelocityPlanner1D::update(double dt)
+{
+  if (dt <= 0.0) {
+    return state_.velocity;
+  }
+
+  if (!state_.has_active_profile || !active_profile_.valid) {
+    state_.jerk = 0.0;
+    updateIsMovingFlag();
+    return state_.velocity;
+  }
+
+  state_.elapsed_time += dt;
+
+  if (state_.elapsed_time >= active_profile_.total_time) {
+    state_.elapsed_time = active_profile_.total_time;
+    state_.velocity = active_profile_.vf;
+    state_.acceleration = 0.0;
+    state_.jerk = 0.0;
+    state_.has_active_profile = false;
+    updateIsMovingFlag();
+    return state_.velocity;
+  }
+
+  state_.velocity = getVelocityAtTime(active_profile_, state_.elapsed_time);
+  state_.acceleration = getAccelerationAtTime(active_profile_, state_.elapsed_time);
+  state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time);
+
+  updateIsMovingFlag();
+  return state_.velocity;
+}
+
+void SCurveVelocityPlanner1D::updateIsMovingFlag()
+{
+  state_.is_moving =
+      state_.has_active_profile ||
+      std::abs(state_.velocity) > VELOCITY_THRESHOLD ||
+      std::abs(state_.target_velocity) > VELOCITY_THRESHOLD ||
+      std::abs(state_.acceleration) > ACCELERATION_THRESHOLD;
+}
+
+} // namespace cmvr

applications/servo.c

@@ -1,83 +0,0 @@
-// #include <rtthread.h>
-// #include <rtdevice.h>
-// #include <board.h>
-//
-// #define PWM_DEV_NAME        "pwm1"
-// #define PWM_DEV_CHANNEL     1
-//
-// /* 常见舵机刷新周期 20ms (50Hz) */
-// #define SERVO_PERIOD_NS     20000000UL
-//
-// /* 你的规格：脉宽限幅 */
-// #define SERVO_MIN_US        800
-// #define SERVO_MAX_US        2200
-//
-// /* 你的标定点：-50/0/+50 -> 1000/1500/2000 */
-// #define SERVO_CENTER_US     1500
-// #define SERVO_US_PER_DEG    10   /* 1° 对应 10us */
-//
-// static struct rt_device_pwm *pwm_dev = RT_NULL;
-//
-// static int clamp_int(int v, int lo, int hi)
-// {
-//     if (v < lo) return lo;
-//     if (v > hi) return hi;
-//     return v;
-// }
-//
-// /* 角度(°) -> 脉宽(us)，按你的三点标定线性换算，并做 800~2200us 限幅 */
-// static int angle_to_pulse_us(int angle_deg)
-// {
-//     int pulse = SERVO_CENTER_US + angle_deg * SERVO_US_PER_DEG;
-//     return clamp_int(pulse, SERVO_MIN_US, SERVO_MAX_US);
-// }
-//
-// /* 设置角度（单位：度），例如 -50 / 0 / +50 */
-// static void servo_set_angle(int angle_deg)
-// {
-//     int pulse_us = angle_to_pulse_us(angle_deg);
-//     rt_uint32_t pulse_ns = (rt_uint32_t)pulse_us * 1000UL; /* us -> ns */
-//     rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, SERVO_PERIOD_NS, pulse_ns);
-// }
-//
-// static void servo_thread_entry(void *parameter)
-// {
-//     while (1)
-//     {
-//         servo_set_angle(50);
-//         rt_thread_mdelay(1500);
-//         servo_set_angle(-50);
-//         rt_thread_mdelay(1500);
-//
-//     }
-// }
-//
-// static int servo_app_init(void)
-// {
-//     pwm_dev = (struct rt_device_pwm *)rt_device_find(PWM_DEV_NAME);
-//     if (pwm_dev == RT_NULL)
-//     {
-//         rt_kprintf("can't find %s\n", PWM_DEV_NAME);
-//         return -RT_ERROR;
-//     }
-//
-//     /* 中位 0° -> 1500us */
-//     rt_pwm_set(pwm_dev, PWM_DEV_CHANNEL, SERVO_PERIOD_NS, (rt_uint32_t)SERVO_CENTER_US * 1000UL);
-//     rt_pwm_enable(pwm_dev, PWM_DEV_CHANNEL);
-//
-//     rt_thread_t tid = rt_thread_create("servo",
-//                                        servo_thread_entry,
-//                                        RT_NULL,
-//                                        1024,
-//                                        20,
-//                                        10);
-//     if (tid == RT_NULL)
-//     {
-//         rt_kprintf("create servo thread failed\n");
-//         return -RT_ERROR;
-//     }
-//     rt_thread_startup(tid);
-//
-//     return RT_EOK;
-// }
-// INIT_APP_EXPORT(servo_app_init);

applications/servo_manager/SConscript

@@ -0,0 +1,10 @@
+from building import *
+import os
+
+cwd = GetCurrentDir()
+src = Glob('src/*.cpp')
+CPPPATH = [cwd]
+
+group = DefineGroup('servo_control', src, depend = [''], CPPPATH = CPPPATH)
+
+Return('group')

applications/servo_manager/include/servo_config.h

@@ -0,0 +1,26 @@
+//
+// Created by Administrator on 2026/4/28.
+//
+
+#ifndef SERVO_CONFIG_H
+#define SERVO_CONFIG_H
+
+#include <string>
+#include <vector>
+
+#include "servo_manager/include/servo_control.h"
+#include "servo_manager/include/servo_driver.h"
+
+struct ServoConfig
+{
+    std::string id;
+    float limit_min_angle_rad;
+    float limit_max_angle_rad;
+    float home_angle_rad;
+    ServoDriver::Config driver;
+    ServoControl::Config control;
+};
+
+std::vector<ServoConfig> loadServoConfigsFromJsonFile(const std::string& json_file_path);
+
+#endif // SERVO_CONFIG_H

applications/servo_manager/include/servo_control.h

@@ -0,0 +1,87 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#ifndef SERVO_CONTROL_H
+#define SERVO_CONTROL_H
+
+#include <stdint.h>
+#include <string>
+
+#include <rtthread.h>
+
+#include "common/curve/include/s_curve.h"
+#include "common/type/servo_types.h"
+#include "planner/s_curve_planner/include/s_curve_position_planner.h"
+#include "servo_manager/include/servo_driver.h"
+
+struct ServoConfig;
+
+class ServoControl
+{
+public:
+    struct Config
+    {
+        double max_velocity_rad{6.28};
+        double max_acceleration_rad{100.0};
+        double max_jerk_rad{500.0};
+        double position_gain{8.0};
+    };
+
+    explicit ServoControl(const ServoConfig& cfg);
+    ~ServoControl();
+
+    rt_err_t init(bool enable_after_init = true, bool go_home = true);
+
+    rt_err_t move(float angle_rad, MotionMode mode);
+    rt_err_t stop();
+
+    void setConstraints(double max_velocity_rad,
+                        double max_acceleration_rad,
+                        double max_jerk_rad);
+    void setPositionGain(double position_gain);
+
+    void update(rt_tick_t now_tick);
+
+    const std::string& id() const;
+
+    float currentAngle() const;
+    float targetAngle() const;
+    float currentVelocity() const;
+
+    bool isActive() const;
+
+private:
+    void sampleStateNoLock(rt_tick_t now_tick);
+    double ticksToSeconds(rt_tick_t delta_ticks) const;
+
+private:
+    static constexpr float ESP = 1e-4f;
+
+    std::string id_;
+    float limit_min_angle_rad_;
+    float limit_max_angle_rad_;
+    float home_angle_rad_;
+    Config cfg_;
+    ServoDriver driver_;
+    cmvr::SCurve curve_;
+    cmvr::SCurvePositionPlanner1D follow_planner_;
+
+    float current_angle_rad_;
+    float current_velocity_rad_per_sec_;
+    float target_angle_rad_;
+
+    rt_tick_t start_tick_;
+    rt_tick_t last_update_tick_;
+    uint32_t generation_;
+    MotionMode active_mode_;
+
+    bool active_;
+    bool dirty_;
+
+    cmvr::SCurveProfile profile_;
+
+    rt_mutex_t mutex_;
+};
+
+#endif // SERVO_CONTROL_H

applications/servo_manager/include/servo_driver.h

@@ -0,0 +1,60 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#ifndef RTTHREAD_SERVO_DRIVER_H
+#define RTTHREAD_SERVO_DRIVER_H
+
+
+#include <rtdevice.h>
+#include <rtthread.h>
+
+#include <stdint.h>
+#include <string>
+
+class ServoDriver
+{
+public:
+    struct Config
+    {
+        std::string pwm_dev_name;
+        int pwm_channel;
+
+        rt_uint32_t period_ns;
+        rt_uint32_t min_pulse_ns;
+        rt_uint32_t max_pulse_ns;
+
+        float min_angle_rad;
+        float max_angle_rad;
+    };
+
+public:
+    ServoDriver(const Config& cfg, float limit_min_angle_rad, float limit_max_angle_rad);
+    ~ServoDriver();
+
+    rt_err_t init(float initial_angle_rad, bool enable_after_init = true);
+
+    rt_err_t enable(bool on);
+    rt_err_t setAngle(float angle_rad);
+
+    const Config& config() const;
+
+private:
+    rt_err_t enableNoLock(bool on);
+    rt_err_t setAngleNoLock(float angle_rad);
+
+    static float clampf(float v, float lo, float hi);
+    static rt_uint32_t angleToPulseNs(const Config& cfg, float angle_rad);
+
+private:
+    Config cfg_;
+    float limit_min_angle_rad_;
+    float limit_max_angle_rad_;
+    rt_device_pwm* pwm_dev_;
+    rt_uint32_t last_pulse_;
+    bool inited_;
+
+    rt_mutex_t mutex_;
+};
+
+#endif //RTTHREAD_SERVO_DRIVER_H

applications/servo_manager/include/servo_manager.h

@@ -0,0 +1,57 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#ifndef SERVO_MANAGER_H
+#define SERVO_MANAGER_H
+
+#include <stddef.h>
+#include <stdint.h>
+#include <string>
+#include <vector>
+
+#include "servo_manager/include/servo_control.h"
+#include "servo_manager/include/servo_config.h"
+
+#include <rtthread.h>
+
+class ServoManager
+{
+public:
+    explicit ServoManager(const std::vector<ServoConfig>& cfg);
+    explicit ServoManager(const std::string& json_file_path);
+    ~ServoManager();
+
+    rt_err_t init(bool enable_after_init = true, bool go_home = true);
+
+    ServoControl* get(size_t index);
+    const ServoControl* get(size_t index) const;
+    ServoControl* get(const std::string& servo_id);
+    const ServoControl* get(const std::string& servo_id) const;
+
+    size_t count() const;
+
+    rt_err_t start();
+    void stop();
+
+    void setUpdatePeriodMs(rt_uint32_t update_period_ms);
+    void wake();
+
+private:
+    static void threadEntry(void* parameter);
+    void run();
+
+    int findIndexByIdNoLock(const std::string& servo_id) const;
+
+private:
+    std::vector<ServoControl> controls_;
+
+    rt_mutex_t mutex_;
+    rt_sem_t wake_sem_;
+    rt_thread_t thread_;
+
+    rt_uint32_t update_period_ms_{10};
+    volatile bool running_;
+};
+
+#endif // SERVO_MANAGER_H

applications/servo_manager/src/servo_config.cpp

@@ -0,0 +1,159 @@
+//
+// Created by Administrator on 2026/4/29.
+//
+
+#include "servo_manager/include/servo_config.h"
+
+#include <ArduinoJson.h>
+#include <dfs.h>
+#include <sys/stat.h>
+
+#include "sys/unistd.h"
+
+std::vector<ServoConfig> loadServoConfigsFromJsonFile(const std::string& json_file_path)
+{
+    std::vector<ServoConfig> configs;
+
+    if (json_file_path.empty()) {
+        rt_kprintf("json file path is empty\n");
+        return configs;
+    }
+
+    struct stat st;
+    if (stat(json_file_path.c_str(), &st) != 0) {
+        rt_kprintf("stat json file failed: %s\n", json_file_path.c_str());
+        return configs;
+    }
+
+    if (st.st_size <= 0) {
+        rt_kprintf("json file is empty: %s\n", json_file_path.c_str());
+        return configs;
+    }
+
+    char* json_buf = static_cast<char*>(rt_malloc((rt_size_t)st.st_size + 1));
+    if (json_buf == RT_NULL) {
+        rt_kprintf("malloc json buffer failed, size=%d\n", (int)st.st_size);
+        return configs;
+    }
+
+    int fd = open(json_file_path.c_str(), O_RDONLY);
+    if (fd < 0) {
+        rt_kprintf("open json file failed: %s\n", json_file_path.c_str());
+        rt_free(json_buf);
+        return configs;
+    }
+
+    int len = read(fd, json_buf, (size_t)st.st_size);
+    close(fd);
+
+    if (len <= 0) {
+        rt_kprintf("read json file failed: %s\n", json_file_path.c_str());
+        rt_free(json_buf);
+        return configs;
+    }
+
+    json_buf[len] = '\0';
+
+    JsonDocument doc;
+
+    DeserializationError error = deserializeJson(doc, json_buf);
+    rt_free(json_buf);
+
+    if (error) {
+        rt_kprintf("parse json failed: %s\n", error.c_str());
+        return configs;
+    }
+
+    const int version = doc["version"] | 1;
+    if (version != 1) {
+        rt_kprintf("unsupported servo config version: %d\n", version);
+        return configs;
+    }
+
+    JsonArray servos = doc["servos"].as<JsonArray>();
+    if (servos.isNull()) {
+        rt_kprintf("json field 'servos' missing or invalid\n");
+        return configs;
+    }
+
+    const int servo_count = doc["servo_count"] | -1;
+    if (servo_count >= 0 && servo_count != (int)servos.size()) {
+        rt_kprintf("servo_count mismatch, declared=%d actual=%d\n",
+                   servo_count,
+                   (int)servos.size());
+        return configs;
+    }
+
+    configs.reserve(servos.size());
+
+    for (JsonObject servo : servos) {
+        const char* servo_id = servo["id"] | "";
+        JsonObject driver = servo["driver"].as<JsonObject>();
+        JsonObject control = servo["control"].as<JsonObject>();
+
+        if (servo_id[0] == '\0' || driver.isNull()) {
+            rt_kprintf("invalid servo config: id empty or driver missing\n");
+            continue;
+        }
+
+        ServoConfig cfg;
+        cfg.id = servo_id;
+
+        cfg.driver.pwm_dev_name = driver["pwm_dev_name"] | "";
+        cfg.driver.pwm_channel = driver["pwm_channel"] | 0;
+
+        cfg.driver.period_ns = driver["period_ns"] | 20000000;
+        cfg.driver.min_pulse_ns = driver["min_pulse_ns"] | 500000;
+        cfg.driver.max_pulse_ns = driver["max_pulse_ns"] | 2500000;
+
+        cfg.driver.min_angle_rad = driver["min_angle_rad"] | -1.5707963f;
+        cfg.driver.max_angle_rad = driver["max_angle_rad"] | 1.5707963f;
+
+        cfg.limit_min_angle_rad = servo["limit_min_angle_rad"] | cfg.driver.min_angle_rad;
+        cfg.limit_max_angle_rad = servo["limit_max_angle_rad"] | cfg.driver.max_angle_rad;
+        cfg.home_angle_rad = servo["home_angle_rad"] | 0.0f;
+
+        cfg.control.max_velocity_rad = control["max_velocity_rad"] | 6.28;
+        cfg.control.max_acceleration_rad = control["max_acceleration_rad"] | 100.0;
+        cfg.control.max_jerk_rad = control["max_jerk_rad"] | 500.0;
+        cfg.control.position_gain = control["position_gain"] | 8.0;
+
+        if (cfg.driver.pwm_dev_name.empty() ||
+            cfg.driver.pwm_channel <= 0 ||
+            cfg.driver.period_ns == 0 ||
+            cfg.driver.min_pulse_ns >= cfg.driver.max_pulse_ns ||
+            cfg.driver.min_angle_rad >= cfg.driver.max_angle_rad ||
+            cfg.limit_min_angle_rad < cfg.driver.min_angle_rad ||
+            cfg.limit_max_angle_rad > cfg.driver.max_angle_rad ||
+            cfg.limit_min_angle_rad >= cfg.limit_max_angle_rad ||
+            cfg.home_angle_rad < cfg.limit_min_angle_rad ||
+            cfg.home_angle_rad > cfg.limit_max_angle_rad ||
+            cfg.control.max_velocity_rad <= 0.0 ||
+            cfg.control.max_acceleration_rad <= 0.0 ||
+            cfg.control.max_jerk_rad <= 0.0 ||
+            cfg.control.position_gain < 0.0) {
+            rt_kprintf("invalid servo config values, id=%s\n", cfg.id.c_str());
+            continue;
+        }
+
+        bool duplicated = false;
+        for (const auto& existing : configs) {
+            if (existing.id == cfg.id) {
+                duplicated = true;
+                break;
+            }
+        }
+        if (duplicated) {
+            rt_kprintf("duplicate servo id in config: %s\n", cfg.id.c_str());
+            continue;
+        }
+
+        configs.push_back(cfg);
+    }
+
+    rt_kprintf("load servo config from %s, count=%d\n",
+               json_file_path.c_str(),
+               (int)configs.size());
+
+    return configs;
+}

applications/servo_manager/src/servo_control.cpp

@@ -0,0 +1,365 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#include "servo_manager/include/servo_control.h"
+#include "servo_manager/include/servo_config.h"
+
+#include <algorithm>
+#include <cmath>
+
+ServoControl::ServoControl(const ServoConfig& cfg)
+    : id_(cfg.id),
+      limit_min_angle_rad_(cfg.limit_min_angle_rad),
+      limit_max_angle_rad_(cfg.limit_max_angle_rad),
+      home_angle_rad_(cfg.home_angle_rad),
+      cfg_(cfg.control),
+      driver_(cfg.driver, cfg.limit_min_angle_rad, cfg.limit_max_angle_rad),
+      curve_(),
+      follow_planner_(cfg.control.max_velocity_rad,
+                      cfg.control.max_acceleration_rad,
+                      cfg.control.max_jerk_rad),
+      current_angle_rad_(cfg.home_angle_rad),
+      current_velocity_rad_per_sec_(0.0f),
+      target_angle_rad_(cfg.home_angle_rad),
+      start_tick_(0),
+      last_update_tick_(0),
+      generation_(0),
+      active_mode_(MotionMode::Immediate),
+      active_(false),
+      dirty_(false),
+      profile_(),
+      mutex_(RT_NULL)
+{
+    curve_.setConstraints(cfg_.max_velocity_rad,
+                          cfg_.max_acceleration_rad,
+                          cfg_.max_jerk_rad);
+    follow_planner_.setPositionGain(cfg_.position_gain);
+    mutex_ = rt_mutex_create("sv_ctl", RT_IPC_FLAG_PRIO);
+}
+
+ServoControl::~ServoControl()
+{
+    if (mutex_) {
+        rt_mutex_delete(mutex_);
+        mutex_ = RT_NULL;
+    }
+}
+
+rt_err_t ServoControl::init(bool enable_after_init, bool go_home)
+{
+    const float init_angle = go_home ? home_angle_rad_
+                                     : driver_.config().min_angle_rad;
+    const rt_err_t err = driver_.init(init_angle, enable_after_init);
+    if (err != RT_EOK) {
+        return err;
+    }
+
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+
+    const rt_tick_t now_tick = rt_tick_get();
+
+    current_angle_rad_ = init_angle;
+    current_velocity_rad_per_sec_ = 0.0f;
+    target_angle_rad_ = init_angle;
+    start_tick_ = now_tick;
+    last_update_tick_ = now_tick;
+    generation_ = 0;
+    active_mode_ = MotionMode::Immediate;
+    active_ = false;
+    dirty_ = false;
+    profile_ = cmvr::SCurveProfile();
+
+    follow_planner_.initialize(init_angle, 0.0, 0.0);
+    follow_planner_.setTarget(init_angle);
+
+    rt_mutex_release(mutex_);
+    return RT_EOK;
+}
+
+rt_err_t ServoControl::move(float angle_rad, MotionMode mode)
+{
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+
+    angle_rad = std::max(limit_min_angle_rad_, std::min(angle_rad, limit_max_angle_rad_));
+
+    const rt_tick_t now_tick = rt_tick_get();
+    sampleStateNoLock(now_tick);
+
+    ++generation_;
+    target_angle_rad_ = angle_rad;
+
+    if (mode == MotionMode::Immediate) {
+        current_angle_rad_ = angle_rad;
+        current_velocity_rad_per_sec_ = 0.0f;
+        start_tick_ = now_tick;
+        last_update_tick_ = now_tick;
+        active_mode_ = MotionMode::Immediate;
+        active_ = false;
+        dirty_ = false;
+
+        rt_mutex_release(mutex_);
+        return driver_.setAngle(angle_rad);
+    }
+
+    if (mode == MotionMode::SCurve) {
+        const float start_angle_rad = current_angle_rad_;
+        const float start_velocity_rad_per_sec = current_velocity_rad_per_sec_;
+
+        profile_ = curve_.calculateProfile(
+            current_angle_rad_, angle_rad, current_velocity_rad_per_sec_, 0.0);
+
+        if (profile_.total_time <= 0.0) {
+            profile_ = curve_.calculateProfile(
+                current_angle_rad_, angle_rad, 0.0, 0.0);
+        }
+
+        start_tick_ = now_tick;
+        last_update_tick_ = now_tick;
+        active_mode_ = MotionMode::SCurve;
+
+        if (profile_.total_time <= 0.0) {
+            if (std::fabs(angle_rad - start_angle_rad) > ESP) {
+                rt_kprintf("[ServoControl][W] scurve fallback to immediate, id=%s start=%.4f target=%.4f vel=%.4f\n",
+                           id().c_str(),
+                           (double)start_angle_rad,
+                           (double)angle_rad,
+                           (double)start_velocity_rad_per_sec);
+            }
+
+            current_angle_rad_ = angle_rad;
+            current_velocity_rad_per_sec_ = 0.0f;
+            active_mode_ = MotionMode::Immediate;
+            active_ = false;
+            dirty_ = false;
+
+            rt_mutex_release(mutex_);
+            return driver_.setAngle(angle_rad);
+        }
+
+        const double tick_sec = 1.0 / RT_TICK_PER_SECOND;
+        if (profile_.total_time <= tick_sec) {
+            rt_kprintf("[ServoControl][W] scurve duration too short, id=%s duration=%.6f tick=%.6f\n",
+                       id().c_str(),
+                       profile_.total_time,
+                       tick_sec);
+        }
+
+        active_ = true;
+        dirty_ = false;
+
+        rt_mutex_release(mutex_);
+        return RT_EOK;
+    }
+
+    if (mode == MotionMode::Follow) {
+        if (active_mode_ != MotionMode::Follow) {
+            follow_planner_.initialize(current_angle_rad_,
+                                       current_velocity_rad_per_sec_,
+                                       0.0);
+        }
+
+        follow_planner_.setTarget(angle_rad);
+        start_tick_ = now_tick;
+        last_update_tick_ = now_tick;
+        active_mode_ = MotionMode::Follow;
+        active_ = true;
+        dirty_ = false;
+
+        rt_mutex_release(mutex_);
+        return RT_EOK;
+    }
+
+    rt_mutex_release(mutex_);
+    return -RT_EINVAL;
+}
+
+rt_err_t ServoControl::stop()
+{
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+
+    const rt_tick_t now_tick = rt_tick_get();
+    sampleStateNoLock(now_tick);
+
+    ++generation_;
+    target_angle_rad_ = current_angle_rad_;
+    current_velocity_rad_per_sec_ = 0.0f;
+    start_tick_ = now_tick;
+    last_update_tick_ = now_tick;
+    active_mode_ = MotionMode::Immediate;
+    active_ = false;
+    dirty_ = false;
+
+    const float hold_angle = current_angle_rad_;
+
+    rt_mutex_release(mutex_);
+    return driver_.setAngle(hold_angle);
+}
+
+void ServoControl::setConstraints(double max_velocity_rad,
+                                  double max_acceleration_rad,
+                                  double max_jerk_rad)
+{
+    if (!mutex_) {
+        curve_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+        follow_planner_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+        return;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    curve_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+    follow_planner_.setConstraints(max_velocity_rad, max_acceleration_rad, max_jerk_rad);
+    rt_mutex_release(mutex_);
+}
+
+void ServoControl::setPositionGain(double position_gain)
+{
+    if (!mutex_) {
+        follow_planner_.setPositionGain(position_gain);
+        return;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    follow_planner_.setPositionGain(position_gain);
+    rt_mutex_release(mutex_);
+}
+
+void ServoControl::update(rt_tick_t now_tick)
+{
+    if (!mutex_) {
+        return;
+    }
+
+    float output_angle = 0.0f;
+    bool should_write = false;
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+
+    const float previous_angle = current_angle_rad_;
+    sampleStateNoLock(now_tick);
+
+    if (dirty_ || std::fabs(current_angle_rad_ - previous_angle) > ESP) {
+        output_angle = current_angle_rad_;
+        dirty_ = false;
+        should_write = true;
+    }
+
+    rt_mutex_release(mutex_);
+
+    if (should_write) {
+        const rt_err_t err = driver_.setAngle(output_angle);
+        if (err != RT_EOK) {
+            rt_kprintf("[ServoControl][E] setAngle failed, id=%s angle=%.4f err=%d\n",
+                       id().c_str(),
+                       (double)output_angle,
+                       (int)err);
+        }
+    }
+}
+
+const std::string& ServoControl::id() const
+{
+    return id_;
+}
+
+float ServoControl::currentAngle() const
+{
+    if (!mutex_) {
+        return current_angle_rad_;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const float v = current_angle_rad_;
+    rt_mutex_release(mutex_);
+    return v;
+}
+
+float ServoControl::targetAngle() const
+{
+    if (!mutex_) {
+        return target_angle_rad_;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const float v = target_angle_rad_;
+    rt_mutex_release(mutex_);
+    return v;
+}
+
+float ServoControl::currentVelocity() const
+{
+    if (!mutex_) {
+        return current_velocity_rad_per_sec_;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const float v = current_velocity_rad_per_sec_;
+    rt_mutex_release(mutex_);
+    return v;
+}
+
+bool ServoControl::isActive() const
+{
+    if (!mutex_) {
+        return active_;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const bool v = active_;
+    rt_mutex_release(mutex_);
+    return v;
+}
+
+void ServoControl::sampleStateNoLock(rt_tick_t now_tick)
+{
+    if (!active_) {
+        return;
+    }
+
+    if (active_mode_ == MotionMode::SCurve) {
+        const double elapsed_sec = ticksToSeconds(now_tick - start_tick_);
+        if (elapsed_sec >= profile_.total_time) {
+            current_angle_rad_ = target_angle_rad_;
+            current_velocity_rad_per_sec_ = 0.0f;
+            active_ = false;
+            return;
+        }
+
+        current_angle_rad_ = static_cast<float>(
+            curve_.getPositionAtTime(profile_, elapsed_sec));
+        current_velocity_rad_per_sec_ = static_cast<float>(
+            curve_.getVelocityAtTime(profile_, elapsed_sec));
+        return;
+    }
+
+    if (active_mode_ == MotionMode::Follow) {
+        const double dt = ticksToSeconds(now_tick - last_update_tick_);
+        if (dt <= 0.0) {
+            return;
+        }
+
+        last_update_tick_ = now_tick;
+        current_angle_rad_ = static_cast<float>(follow_planner_.update(dt));
+        current_velocity_rad_per_sec_ = static_cast<float>(follow_planner_.getVelocity());
+        target_angle_rad_ = static_cast<float>(follow_planner_.getTargetPosition());
+        active_ = follow_planner_.isMoving();
+        return;
+    }
+}
+
+double ServoControl::ticksToSeconds(rt_tick_t delta_ticks) const
+{
+    return static_cast<double>(delta_ticks) / RT_TICK_PER_SECOND;
+}

applications/servo_manager/src/servo_driver.cpp

@@ -0,0 +1,180 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#include "servo_manager/include/servo_driver.h"
+
+ServoDriver::ServoDriver(const Config& cfg, float limit_min_angle_rad, float limit_max_angle_rad)
+    : cfg_(cfg),
+      limit_min_angle_rad_(limit_min_angle_rad),
+      limit_max_angle_rad_(limit_max_angle_rad),
+      pwm_dev_(RT_NULL),
+      last_pulse_(0),
+      inited_(false),
+      mutex_(RT_NULL)
+{
+    mutex_ = rt_mutex_create("sv_drv", RT_IPC_FLAG_PRIO);
+}
+
+ServoDriver::~ServoDriver()
+{
+    if (mutex_) {
+        rt_mutex_delete(mutex_);
+        mutex_ = RT_NULL;
+    }
+}
+
+rt_err_t ServoDriver::init(float initial_angle_rad, bool enable_after_init)
+{
+    if (cfg_.pwm_dev_name.empty()) {
+        rt_kprintf("[ServoDriver][E] init: invalid cfg, pwm is empty\n");
+        return -RT_EINVAL;
+    }
+
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+
+    pwm_dev_ = (rt_device_pwm*)rt_device_find(cfg_.pwm_dev_name.c_str());
+    if (!pwm_dev_) {
+        rt_kprintf("[ServoDriver][E] init: rt_device_find failed, pwm=%s ch=%d\n",
+                   cfg_.pwm_dev_name.c_str(),
+                   cfg_.pwm_channel);
+        rt_mutex_release(mutex_);
+        return -RT_ENOSYS;
+    }
+
+    const float limited_angle = clampf(initial_angle_rad, limit_min_angle_rad_, limit_max_angle_rad_);
+    const rt_uint32_t pulse = angleToPulseNs(cfg_, limited_angle);
+
+    rt_err_t err = rt_pwm_set(pwm_dev_, cfg_.pwm_channel, cfg_.period_ns, pulse);
+    if (err != RT_EOK) {
+        rt_kprintf("[ServoDriver][E] init: rt_pwm_set failed, ch=%d pulse=%u err=%d\n",
+                   cfg_.pwm_channel,
+                   (unsigned)pulse,
+                   (int)err);
+        rt_mutex_release(mutex_);
+        return err;
+    }
+
+    last_pulse_ = pulse;
+    inited_ = true;
+
+    if (enable_after_init) {
+        err = rt_pwm_enable(pwm_dev_, cfg_.pwm_channel);
+        if (err != RT_EOK) {
+            rt_kprintf("[ServoDriver][E] init: rt_pwm_enable failed, ch=%d err=%d\n",
+                       cfg_.pwm_channel,
+                       (int)err);
+            rt_mutex_release(mutex_);
+            return err;
+        }
+    }
+
+    rt_mutex_release(mutex_);
+
+    rt_kprintf("[ServoDriver] init OK: pwm=%s ch=%d enable=%d initial=%.4f\n",
+               cfg_.pwm_dev_name.c_str(),
+               cfg_.pwm_channel,
+               (int)enable_after_init,
+               (double)initial_angle_rad);
+
+    return RT_EOK;
+}
+
+rt_err_t ServoDriver::enable(bool on)
+{
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const rt_err_t err = enableNoLock(on);
+    rt_mutex_release(mutex_);
+    return err;
+}
+
+rt_err_t ServoDriver::setAngle(float angle_rad)
+{
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const rt_err_t err = setAngleNoLock(angle_rad);
+    rt_mutex_release(mutex_);
+    return err;
+}
+
+const ServoDriver::Config& ServoDriver::config() const
+{
+    return cfg_;
+}
+
+rt_err_t ServoDriver::enableNoLock(bool on)
+{
+    if (!inited_ || !pwm_dev_) {
+        return -RT_ERROR;
+    }
+
+    return on ? rt_pwm_enable(pwm_dev_, cfg_.pwm_channel)
+              : rt_pwm_disable(pwm_dev_, cfg_.pwm_channel);
+}
+
+rt_err_t ServoDriver::setAngleNoLock(float angle_rad)
+{
+    if (!inited_ || !pwm_dev_) {
+        return -RT_ERROR;
+    }
+
+    const float limited_angle = clampf(angle_rad, limit_min_angle_rad_, limit_max_angle_rad_);
+    const rt_uint32_t pulse = angleToPulseNs(cfg_, limited_angle);
+    if (pulse == last_pulse_) {
+        return RT_EOK;
+    }
+
+    const rt_err_t err = rt_pwm_set(pwm_dev_, cfg_.pwm_channel, cfg_.period_ns, pulse);
+    if (err != RT_EOK) {
+        return err;
+    }
+
+    last_pulse_ = pulse;
+    return RT_EOK;
+}
+
+float ServoDriver::clampf(float v, float lo, float hi)
+{
+    if (v < lo) {
+        return lo;
+    }
+    if (v > hi) {
+        return hi;
+    }
+    return v;
+}
+
+rt_uint32_t ServoDriver::angleToPulseNs(const Config& cfg, float angle_rad)
+{
+    const float a = clampf(angle_rad, cfg.min_angle_rad, cfg.max_angle_rad);
+
+    const float in_span = cfg.max_angle_rad - cfg.min_angle_rad;
+    const float out_span = (float)(cfg.max_pulse_ns - cfg.min_pulse_ns);
+
+    float t = 0.0f;
+    if (in_span > 1e-6f) {
+        t = (a - cfg.min_angle_rad) / in_span;
+    }
+
+    float pulse = (float)cfg.min_pulse_ns + t * out_span;
+
+    if (pulse < (float)cfg.min_pulse_ns) {
+        pulse = (float)cfg.min_pulse_ns;
+    }
+    if (pulse > (float)cfg.max_pulse_ns) {
+        pulse = (float)cfg.max_pulse_ns;
+    }
+
+    return (rt_uint32_t)(pulse + 0.5f);
+}

applications/servo_manager/src/servo_manager.cpp

@@ -0,0 +1,248 @@
+//
+// Created by Administrator on 2026/4/22.
+//
+
+#include "servo_manager/include/servo_manager.h"
+
+ServoManager::ServoManager(const std::vector<ServoConfig>& cfg)
+    : controls_(),
+      mutex_(RT_NULL),
+      wake_sem_(RT_NULL),
+      thread_(RT_NULL),
+      running_(false)
+{
+    controls_.reserve(cfg.size());
+    for (const auto& c : cfg) {
+        controls_.emplace_back(c);
+    }
+
+    mutex_ = rt_mutex_create("sv_mgr", RT_IPC_FLAG_PRIO);
+    wake_sem_ = rt_sem_create("sv_wk", 0, RT_IPC_FLAG_PRIO);
+}
+
+
+ServoManager::ServoManager(const std::string& json_file_path)
+    : ServoManager(loadServoConfigsFromJsonFile(json_file_path))
+{
+}
+
+ServoManager::~ServoManager()
+{
+    stop();
+
+    if (mutex_) {
+        rt_mutex_delete(mutex_);
+        mutex_ = RT_NULL;
+    }
+
+    if (wake_sem_) {
+        rt_sem_delete(wake_sem_);
+        wake_sem_ = RT_NULL;
+    }
+}
+
+rt_err_t ServoManager::init(bool enable_after_init, bool go_home)
+{
+    if (!mutex_) {
+        return -RT_ENOMEM;
+    }
+
+    if (controls_.empty()) {
+        rt_kprintf("[ServoManager][E] init: no servo config\n");
+        return -RT_EINVAL;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+
+    for (size_t i = 0; i < controls_.size(); ++i) {
+        const rt_err_t err = controls_[i].init(enable_after_init, go_home);
+        if (err != RT_EOK) {
+            rt_mutex_release(mutex_);
+            return err;
+        }
+    }
+
+    rt_mutex_release(mutex_);
+    return RT_EOK;
+}
+
+ServoControl* ServoManager::get(size_t index)
+{
+    if (!mutex_) {
+        return RT_NULL;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    ServoControl* control = (index < controls_.size()) ? &controls_[index] : RT_NULL;
+    rt_mutex_release(mutex_);
+    return control;
+}
+
+const ServoControl* ServoManager::get(size_t index) const
+{
+    if (!mutex_) {
+        return RT_NULL;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const ServoControl* control = (index < controls_.size()) ? &controls_[index] : RT_NULL;
+    rt_mutex_release(mutex_);
+    return control;
+}
+
+ServoControl* ServoManager::get(const std::string& servo_id)
+{
+    if (!mutex_) {
+        return RT_NULL;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const int index = findIndexByIdNoLock(servo_id);
+    ServoControl* control = (index >= 0) ? &controls_[(size_t)index] : RT_NULL;
+    rt_mutex_release(mutex_);
+    return control;
+}
+
+const ServoControl* ServoManager::get(const std::string& servo_id) const
+{
+    if (!mutex_) {
+        return RT_NULL;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    const int index = findIndexByIdNoLock(servo_id);
+    const ServoControl* control = (index >= 0) ? &controls_[(size_t)index] : RT_NULL;
+    rt_mutex_release(mutex_);
+    return control;
+}
+
+size_t ServoManager::count() const
+{
+    return controls_.size();
+}
+
+rt_err_t ServoManager::start()
+{
+    if (!mutex_ || !wake_sem_) {
+        return -RT_ENOMEM;
+    }
+
+    if (running_) {
+        return RT_EOK;
+    }
+
+    running_ = true;
+
+    thread_ = rt_thread_create("sv_mgr",
+                               ServoManager::threadEntry,
+                               this,
+                               4096,
+                               20,
+                               1);
+    if (!thread_) {
+        running_ = false;
+        return -RT_ENOMEM;
+    }
+
+    const rt_err_t err = rt_thread_startup(thread_);
+    if (err != RT_EOK) {
+        running_ = false;
+        rt_thread_delete(thread_);
+        thread_ = RT_NULL;
+        return err;
+    }
+
+    return RT_EOK;
+}
+
+void ServoManager::stop()
+{
+    if (!running_) {
+        return;
+    }
+
+    running_ = false;
+    wake();
+
+    if (thread_) {
+        rt_thread_mdelay((rt_int32_t)(update_period_ms_ + 1));
+        rt_thread_delete(thread_);
+        thread_ = RT_NULL;
+    }
+}
+
+void ServoManager::setUpdatePeriodMs(rt_uint32_t update_period_ms)
+{
+    const rt_uint32_t clamped = (update_period_ms == 0) ? 1 : update_period_ms;
+
+    if (!mutex_) {
+        update_period_ms_ = clamped;
+        return;
+    }
+
+    rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+    update_period_ms_ = clamped;
+    rt_mutex_release(mutex_);
+}
+
+void ServoManager::wake()
+{
+    if (thread_ && wake_sem_) {
+        rt_sem_release(wake_sem_);
+    }
+}
+
+void ServoManager::threadEntry(void* parameter)
+{
+    ServoManager* self = static_cast<ServoManager*>(parameter);
+    if (!self) {
+        return;
+    }
+
+    self->run();
+}
+
+void ServoManager::run()
+{
+    while (running_) {
+        rt_tick_t wait_ticks = rt_tick_from_millisecond(update_period_ms_);
+        if (wait_ticks == 0) {
+            wait_ticks = 1;
+        }
+
+        if (wake_sem_) {
+            rt_sem_take(wake_sem_, wait_ticks);
+        } else {
+            rt_thread_mdelay((rt_int32_t)update_period_ms_);
+        }
+
+        if (!running_) {
+            break;
+        }
+
+        const rt_tick_t now_tick = rt_tick_get();
+
+        rt_mutex_take(mutex_, RT_WAITING_FOREVER);
+        for (size_t i = 0; i < controls_.size(); ++i) {
+            controls_[i].update(now_tick);
+        }
+        rt_mutex_release(mutex_);
+    }
+
+    thread_ = RT_NULL;
+}
+
+int ServoManager::findIndexByIdNoLock(const std::string& servo_id) const
+{
+    if (servo_id.empty()) {
+        return -1;
+    }
+
+    for (size_t i = 0; i < controls_.size(); ++i) {
+        if (controls_[i].id() == servo_id) {
+            return (int)i;
+        }
+    }
+
+    return -1;
+}

board/CubeMX_Config/CubeMX_Config.ioc

@@ -5,54 +5,88 @@ CAD.provider=
 CORTEX_M7.IPParameters=default_mode_Activation
 CORTEX_M7.default_mode_Activation=1
 File.Version=6
-GPIO.groupedBy=Group By Peripherals
+GPIO.groupedBy=
 KeepUserPlacement=false
 MMTAppRegionsCount=0
 MMTConfigApplied=false
 MMTSectionSuffix=
-Mcu.CPN=STM32H750XBH6
+Mcu.CPN=STM32H743VIT6
 Mcu.Family=STM32H7
 Mcu.IP0=CORTEX_M7
 Mcu.IP1=DEBUG
-Mcu.IP10=USART3
+Mcu.IP10=TIM5
+Mcu.IP11=TIM8
+Mcu.IP12=TIM12
+Mcu.IP13=TIM13
+Mcu.IP14=TIM14
+Mcu.IP15=TIM15
+Mcu.IP16=TIM16
+Mcu.IP17=TIM17
+Mcu.IP18=USART1
+Mcu.IP19=USB_DEVICE
 Mcu.IP2=MEMORYMAP
+Mcu.IP20=USB_OTG_FS
 Mcu.IP3=NVIC
-Mcu.IP4=QUADSPI
+Mcu.IP4=RCC
-Mcu.IP5=RCC
+Mcu.IP5=SYS
-Mcu.IP6=SPI5
+Mcu.IP6=TIM1
-Mcu.IP7=SYS
+Mcu.IP7=TIM2
-Mcu.IP8=USART1
+Mcu.IP8=TIM3
-Mcu.IP9=USART2
+Mcu.IP9=TIM4
-Mcu.IPNb=11
+Mcu.IPNb=21
-Mcu.Name=STM32H750XBHx
+Mcu.Name=STM32H743VITx
-Mcu.Package=TFBGA240
+Mcu.Package=LQFP100
-Mcu.Pin0=PD5
+Mcu.Pin0=PE5
-Mcu.Pin1=PD6
+Mcu.Pin1=PE6
-Mcu.Pin10=PH0-OSC_IN (PH0)
+Mcu.Pin10=PB0
-Mcu.Pin11=PK0
+Mcu.Pin11=PB1
-Mcu.Pin12=PF6
+Mcu.Pin12=PE9
-Mcu.Pin13=PF7
+Mcu.Pin13=PE11
-Mcu.Pin14=PF8
+Mcu.Pin14=PE13
-Mcu.Pin15=PF10
+Mcu.Pin15=PE14
-Mcu.Pin16=PF9
+Mcu.Pin16=PB10
-Mcu.Pin17=PJ10
+Mcu.Pin17=PB11
-Mcu.Pin18=PE9
+Mcu.Pin18=PB14
-Mcu.Pin19=PD9
+Mcu.Pin19=PB15
-Mcu.Pin2=PA14 (JTCK/SWCLK)
+Mcu.Pin2=PH0-OSC_IN (PH0)
-Mcu.Pin20=PD8
+Mcu.Pin20=PD14
-Mcu.Pin21=VP_SYS_VS_Systick
+Mcu.Pin21=PD15
-Mcu.Pin22=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin22=PC6
-Mcu.Pin3=PC15-OSC32_OUT (OSC32_OUT)
+Mcu.Pin23=PC7
-Mcu.Pin4=PC14-OSC32_IN (OSC32_IN)
+Mcu.Pin24=PC8
-Mcu.Pin5=PA13 (JTMS/SWDIO)
+Mcu.Pin25=PC9
-Mcu.Pin6=PA10
+Mcu.Pin26=PA9
-Mcu.Pin7=PA9
+Mcu.Pin27=PA10
-Mcu.Pin8=PG6
+Mcu.Pin28=PA11
-Mcu.Pin9=PH1-OSC_OUT (PH1)
+Mcu.Pin29=PA12
-Mcu.PinsNb=23
+Mcu.Pin3=PH1-OSC_OUT (PH1)
+Mcu.Pin30=PA13 (JTMS/SWDIO)
+Mcu.Pin31=PA14 (JTCK/SWCLK)
+Mcu.Pin32=PA15 (JTDI)
+Mcu.Pin33=PB3 (JTDO/TRACESWO)
+Mcu.Pin34=PB4 (NJTRST)
+Mcu.Pin35=PB5
+Mcu.Pin36=PB6
+Mcu.Pin37=PB7
+Mcu.Pin38=PB8
+Mcu.Pin39=PB9
+Mcu.Pin4=PA0
+Mcu.Pin40=VP_SYS_VS_Systick
+Mcu.Pin41=VP_TIM13_VS_ClockSourceINT
+Mcu.Pin42=VP_TIM14_VS_ClockSourceINT
+Mcu.Pin43=VP_TIM16_VS_ClockSourceINT
+Mcu.Pin44=VP_TIM17_VS_ClockSourceINT
+Mcu.Pin45=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
+Mcu.Pin46=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin5=PA1
+Mcu.Pin6=PA2
+Mcu.Pin7=PA3
+Mcu.Pin8=PA6
+Mcu.Pin9=PA7
+Mcu.PinsNb=47
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
-Mcu.UserName=STM32H750XBHx
+Mcu.UserName=STM32H743VITx
 MxCube.Version=6.16.0
 MxDb.Version=DB.6.0.160
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -61,62 +95,70 @@ NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.OTG_FS_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:false\:true\:false
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+PA0.Signal=S_TIM5_CH1
+PA1.Signal=S_TIM5_CH2
 PA10.Locked=true
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
+PA11.Mode=Device_Only
+PA11.Signal=USB_OTG_FS_DM
+PA12.Mode=Device_Only
+PA12.Signal=USB_OTG_FS_DP
 PA13\ (JTMS/SWDIO).Mode=Serial_Wire
 PA13\ (JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
 PA14\ (JTCK/SWCLK).Mode=Serial_Wire
 PA14\ (JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
+PA15\ (JTDI).Locked=true
+PA15\ (JTDI).Signal=S_TIM2_CH1_ETR
+PA2.Signal=S_TIM5_CH3
+PA3.Signal=S_TIM5_CH4
+PA6.Signal=S_TIM13_CH1
+PA7.Signal=S_TIM14_CH1
 PA9.Locked=true
 PA9.Mode=Asynchronous
 PA9.Signal=USART1_TX
-PC14-OSC32_IN\ (OSC32_IN).Mode=LSE-External-Oscillator
+PB0.Signal=S_TIM3_CH3
-PC14-OSC32_IN\ (OSC32_IN).Signal=RCC_OSC32_IN
+PB1.Signal=S_TIM3_CH4
-PC15-OSC32_OUT\ (OSC32_OUT).Mode=LSE-External-Oscillator
+PB10.Locked=true
-PC15-OSC32_OUT\ (OSC32_OUT).Signal=RCC_OSC32_OUT
+PB10.Signal=S_TIM2_CH3
-PD5.Mode=Asynchronous
+PB11.Locked=true
-PD5.Signal=USART2_TX
+PB11.Signal=S_TIM2_CH4
-PD6.Mode=Asynchronous
+PB14.Signal=S_TIM12_CH1
-PD6.Signal=USART2_RX
+PB15.Signal=S_TIM12_CH2
-PD8.Locked=true
+PB3\ (JTDO/TRACESWO).Locked=true
-PD8.Mode=Asynchronous
+PB3\ (JTDO/TRACESWO).Signal=S_TIM2_CH2
-PD8.Signal=USART3_TX
+PB4\ (NJTRST).Locked=true
-PD9.Locked=true
+PB4\ (NJTRST).Signal=S_TIM3_CH1
-PD9.Mode=Asynchronous
+PB5.Locked=true
-PD9.Signal=USART3_RX
+PB5.Signal=S_TIM3_CH2
-PE9.Locked=true
+PB6.Locked=true
+PB6.Signal=S_TIM4_CH1
+PB7.Locked=true
+PB7.Signal=S_TIM4_CH2
+PB8.Signal=S_TIM16_CH1
+PB9.Signal=S_TIM17_CH1
+PC6.Signal=S_TIM8_CH1
+PC7.Signal=S_TIM8_CH2
+PC8.Signal=S_TIM8_CH3
+PC9.Signal=S_TIM8_CH4
+PD14.Signal=S_TIM4_CH3
+PD15.Signal=S_TIM4_CH4
+PE11.Signal=S_TIM1_CH2
+PE13.Signal=S_TIM1_CH3
+PE14.Signal=S_TIM1_CH4
+PE5.Signal=S_TIM15_CH1
+PE6.Signal=S_TIM15_CH2
 PE9.Signal=S_TIM1_CH1
-PF10.Mode=Single Bank 1
-PF10.Signal=QUADSPI_CLK
-PF6.Mode=Single Bank 1
-PF6.Signal=QUADSPI_BK1_IO3
-PF7.Locked=true
-PF7.Mode=Single Bank 1
-PF7.Signal=QUADSPI_BK1_IO2
-PF8.Locked=true
-PF8.Mode=Single Bank 1
-PF8.Signal=QUADSPI_BK1_IO0
-PF9.Locked=true
-PF9.Mode=Single Bank 1
-PF9.Signal=QUADSPI_BK1_IO1
-PG6.Locked=true
-PG6.Mode=Single Bank 1
-PG6.Signal=QUADSPI_BK1_NCS
 PH0-OSC_IN\ (PH0).Mode=HSE-External-Oscillator
 PH0-OSC_IN\ (PH0).Signal=RCC_OSC_IN
 PH1-OSC_OUT\ (PH1).Mode=HSE-External-Oscillator
 PH1-OSC_OUT\ (PH1).Signal=RCC_OSC_OUT
-PJ10.Mode=TX_Only_Simplex_Unidirect_Master
-PJ10.Signal=SPI5_MOSI
-PK0.Mode=TX_Only_Simplex_Unidirect_Master
-PK0.Signal=SPI5_SCK
-PinOutPanel.CurrentBGAView=Top
 PinOutPanel.RotationAngle=0
 ProjectManager.AskForMigrate=true
 ProjectManager.BackupPrevious=false
@@ -127,7 +169,7 @@ ProjectManager.CoupleFile=false
 ProjectManager.CustomerFirmwarePackage=
 ProjectManager.DefaultFWLocation=true
 ProjectManager.DeletePrevious=true
-ProjectManager.DeviceId=STM32H750XBHx
+ProjectManager.DeviceId=STM32H743VITx
 ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
 ProjectManager.FreePins=false
 ProjectManager.FreePinsContext=
@@ -150,105 +192,209 @@ ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_USART1_UART_Init-USART1-false-HAL-true,4-MX_QUADSPI_Init-QUADSPI-false-HAL-true,5-MX_SPI5_Init-SPI5-false-HAL-true,6-MX_USART2_UART_Init-USART2-false-HAL-true,7-MX_USART3_UART_Init-USART3-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
+ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_TIM2_Init-TIM2-false-HAL-true,5-MX_TIM3_Init-TIM3-false-HAL-true,6-MX_TIM4_Init-TIM4-false-HAL-true,7-MX_TIM5_Init-TIM5-false-HAL-true,8-MX_TIM8_Init-TIM8-false-HAL-true,9-MX_TIM12_Init-TIM12-false-HAL-true,10-MX_TIM13_Init-TIM13-false-HAL-true,11-MX_TIM14_Init-TIM14-false-HAL-true,12-MX_TIM15_Init-TIM15-false-HAL-true,13-MX_TIM16_Init-TIM16-false-HAL-true,14-MX_TIM17_Init-TIM17-false-HAL-true,15-MX_USART1_UART_Init-USART1-false-HAL-true,16-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
-QUADSPI.ChipSelectHighTime=QSPI_CS_HIGH_TIME_5_CYCLE
+RCC.ADCFreq_Value=50390625
-QUADSPI.ClockPrescaler=5
+RCC.AHB12Freq_Value=120000000
-QUADSPI.FifoThreshold=4
+RCC.AHB4Freq_Value=120000000
-QUADSPI.FlashSize=22
-QUADSPI.IPParameters=ClockPrescaler,FifoThreshold,SampleShifting,FlashSize,ChipSelectHighTime
-QUADSPI.SampleShifting=QSPI_SAMPLE_SHIFTING_HALFCYCLE
-RCC.ADCFreq_Value=129000000
-RCC.AHB12Freq_Value=240000000
-RCC.AHB4Freq_Value=240000000
 RCC.APB1Freq_Value=120000000
-RCC.APB2Freq_Value=120000000
+RCC.APB2Freq_Value=30000000
 RCC.APB3Freq_Value=120000000
 RCC.APB4Freq_Value=120000000
-RCC.AXIClockFreq_Value=240000000
+RCC.AXIClockFreq_Value=120000000
 RCC.CECFreq_Value=32000
 RCC.CKPERFreq_Value=64000000
-RCC.CortexFreq_Value=480000000
+RCC.CortexFreq_Value=120000000
-RCC.CpuClockFreq_Value=480000000
+RCC.CpuClockFreq_Value=120000000
-RCC.D1CPREFreq_Value=480000000
+RCC.D1CPREFreq_Value=120000000
-RCC.D1PPRE=RCC_APB3_DIV2
+RCC.D2PPRE2=RCC_APB2_DIV4
-RCC.D2PPRE1=RCC_APB1_DIV2
+RCC.DFSDMACLkFreq_Value=48000000
-RCC.D2PPRE2=RCC_APB2_DIV2
+RCC.DFSDMFreq_Value=30000000
-RCC.D3PPRE=RCC_APB4_DIV2
+RCC.DIVM1=5
-RCC.DFSDMACLkFreq_Value=480000000
+RCC.DIVN1=48
-RCC.DFSDMFreq_Value=120000000
+RCC.DIVP1Freq_Value=120000000
-RCC.DIVM1=4
+RCC.DIVP2Freq_Value=50390625
-RCC.DIVN1=60
+RCC.DIVP3Freq_Value=50390625
-RCC.DIVP1Freq_Value=480000000
+RCC.DIVQ1=5
-RCC.DIVP2Freq_Value=129000000
+RCC.DIVQ1Freq_Value=48000000
-RCC.DIVP3Freq_Value=129000000
+RCC.DIVQ2Freq_Value=50390625
-RCC.DIVQ1Freq_Value=480000000
+RCC.DIVQ3Freq_Value=50390625
-RCC.DIVQ2Freq_Value=129000000
+RCC.DIVR1Freq_Value=120000000
-RCC.DIVQ3Freq_Value=129000000
+RCC.DIVR2Freq_Value=50390625
-RCC.DIVR1Freq_Value=480000000
+RCC.DIVR3Freq_Value=50390625
-RCC.DIVR2Freq_Value=129000000
+RCC.FDCANFreq_Value=48000000
-RCC.DIVR3Freq_Value=129000000
+RCC.FMCFreq_Value=120000000
-RCC.FDCANFreq_Value=480000000
-RCC.FMCFreq_Value=240000000
 RCC.FamilyName=M
-RCC.HCLK3ClockFreq_Value=240000000
+RCC.HCLK3ClockFreq_Value=120000000
-RCC.HCLKFreq_Value=240000000
+RCC.HCLKFreq_Value=120000000
-RCC.HPRE=RCC_HCLK_DIV2
+RCC.HRTIMFreq_Value=60000000
-RCC.HRTIMFreq_Value=240000000
 RCC.I2C123Freq_Value=120000000
 RCC.I2C4Freq_Value=120000000
-RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL3FRACN,PLLFRACN,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
+RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D2PPRE2,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVN1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HRTIMFreq_Value,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL3FRACN,PLLFRACN,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI23Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
 RCC.LPTIM1Freq_Value=120000000
 RCC.LPTIM2Freq_Value=120000000
 RCC.LPTIM345Freq_Value=120000000
 RCC.LPUART1Freq_Value=120000000
-RCC.LTDCFreq_Value=129000000
+RCC.LTDCFreq_Value=50390625
 RCC.MCO1PinFreq_Value=64000000
-RCC.MCO2PinFreq_Value=480000000
+RCC.MCO2PinFreq_Value=120000000
 RCC.PLL2FRACN=0
 RCC.PLL3FRACN=0
 RCC.PLLFRACN=0
-RCC.QSPIFreq_Value=240000000
+RCC.QSPIFreq_Value=120000000
 RCC.RNGFreq_Value=48000000
 RCC.RTCFreq_Value=32000
-RCC.SAI1Freq_Value=480000000
+RCC.SAI1Freq_Value=48000000
-RCC.SAI23Freq_Value=480000000
+RCC.SAI23Freq_Value=48000000
-RCC.SAI4AFreq_Value=480000000
+RCC.SAI4AFreq_Value=48000000
-RCC.SAI4BFreq_Value=480000000
+RCC.SAI4BFreq_Value=48000000
-RCC.SDMMCFreq_Value=480000000
+RCC.SDMMCFreq_Value=48000000
-RCC.SPDIFRXFreq_Value=480000000
+RCC.SPDIFRXFreq_Value=48000000
-RCC.SPI123Freq_Value=480000000
+RCC.SPI123Freq_Value=48000000
-RCC.SPI45Freq_Value=120000000
+RCC.SPI45Freq_Value=30000000
 RCC.SPI6Freq_Value=120000000
 RCC.SWPMI1Freq_Value=120000000
-RCC.SYSCLKFreq_VALUE=480000000
+RCC.SYSCLKFreq_VALUE=120000000
 RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.Tim1OutputFreq_Value=240000000
+RCC.Tim1OutputFreq_Value=120000000
-RCC.Tim2OutputFreq_Value=240000000
+RCC.Tim2OutputFreq_Value=60000000
-RCC.TraceFreq_Value=480000000
+RCC.TraceFreq_Value=120000000
-RCC.USART16Freq_Value=120000000
+RCC.USART16Freq_Value=30000000
 RCC.USART234578Freq_Value=120000000
-RCC.USBFreq_Value=480000000
+RCC.USBFreq_Value=48000000
-RCC.VCO1OutputFreq_Value=960000000
+RCC.VCO1OutputFreq_Value=240000000
-RCC.VCO2OutputFreq_Value=258000000
+RCC.VCO2OutputFreq_Value=100781250
-RCC.VCO3OutputFreq_Value=258000000
+RCC.VCO3OutputFreq_Value=100781250
-RCC.VCOInput1Freq_Value=16000000
+RCC.VCOInput1Freq_Value=5000000
-RCC.VCOInput2Freq_Value=2000000
+RCC.VCOInput2Freq_Value=781250
-RCC.VCOInput3Freq_Value=2000000
+RCC.VCOInput3Freq_Value=781250
-SH.S_TIM1_CH1.0=TIM1_CH1
+SH.S_TIM12_CH1.0=TIM12_CH1,PWM Generation1 CH1
+SH.S_TIM12_CH1.ConfNb=1
+SH.S_TIM12_CH2.0=TIM12_CH2,PWM Generation2 CH2
+SH.S_TIM12_CH2.ConfNb=1
+SH.S_TIM13_CH1.0=TIM13_CH1,PWM Generation1 CH1
+SH.S_TIM13_CH1.ConfNb=1
+SH.S_TIM14_CH1.0=TIM14_CH1,PWM Generation1 CH1
+SH.S_TIM14_CH1.ConfNb=1
+SH.S_TIM15_CH1.0=TIM15_CH1,PWM Generation1 CH1
+SH.S_TIM15_CH1.ConfNb=1
+SH.S_TIM15_CH2.0=TIM15_CH2,PWM Generation2 CH2
+SH.S_TIM15_CH2.ConfNb=1
+SH.S_TIM16_CH1.0=TIM16_CH1,PWM Generation1 CH1
+SH.S_TIM16_CH1.ConfNb=1
+SH.S_TIM17_CH1.0=TIM17_CH1,PWM Generation1 CH1
+SH.S_TIM17_CH1.ConfNb=1
+SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
 SH.S_TIM1_CH1.ConfNb=1
-SPI5.CalculateBaudRate=60.0 MBits/s
+SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
-SPI5.Direction=SPI_DIRECTION_2LINES_TXONLY
+SH.S_TIM1_CH2.ConfNb=1
-SPI5.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate
+SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
-SPI5.Mode=SPI_MODE_MASTER
+SH.S_TIM1_CH3.ConfNb=1
-SPI5.VirtualType=VM_MASTER
+SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
+SH.S_TIM1_CH4.ConfNb=1
+SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
+SH.S_TIM2_CH1_ETR.ConfNb=1
+SH.S_TIM2_CH2.0=TIM2_CH2,PWM Generation2 CH2
+SH.S_TIM2_CH2.ConfNb=1
+SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
+SH.S_TIM2_CH3.ConfNb=1
+SH.S_TIM2_CH4.0=TIM2_CH4,PWM Generation4 CH4
+SH.S_TIM2_CH4.ConfNb=1
+SH.S_TIM3_CH1.0=TIM3_CH1,PWM Generation1 CH1
+SH.S_TIM3_CH1.ConfNb=1
+SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
+SH.S_TIM3_CH2.ConfNb=1
+SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
+SH.S_TIM3_CH3.ConfNb=1
+SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
+SH.S_TIM3_CH4.ConfNb=1
+SH.S_TIM4_CH1.0=TIM4_CH1,PWM Generation1 CH1
+SH.S_TIM4_CH1.ConfNb=1
+SH.S_TIM4_CH2.0=TIM4_CH2,PWM Generation2 CH2
+SH.S_TIM4_CH2.ConfNb=1
+SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
+SH.S_TIM4_CH3.ConfNb=1
+SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
+SH.S_TIM4_CH4.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_TIM5_CH4.0=TIM5_CH4,PWM Generation4 CH4
+SH.S_TIM5_CH4.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
+SH.S_TIM8_CH3.0=TIM8_CH3,PWM Generation3 CH3
+SH.S_TIM8_CH3.ConfNb=1
+SH.S_TIM8_CH4.0=TIM8_CH4,PWM Generation4 CH4
+SH.S_TIM8_CH4.ConfNb=1
+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
+TIM12.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM12.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM13.Channel=TIM_CHANNEL_1
+TIM13.IPParameters=Channel
+TIM14.Channel=TIM_CHANNEL_1
+TIM14.IPParameters=Channel
+TIM15.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM15.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM15.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2
+TIM16.Channel=TIM_CHANNEL_1
+TIM16.IPParameters=Channel
+TIM17.Channel=TIM_CHANNEL_1
+TIM17.IPParameters=Channel
+TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM2.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM2.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM3.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM3.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM4.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM4.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM4.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+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.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
+TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
+TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
+TIM8.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
+TIM8.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
+TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4
 USART1.IPParameters=VirtualMode-Asynchronous
 USART1.VirtualMode-Asynchronous=VM_ASYNC
-USART2.IPParameters=VirtualMode-Asynchronous
+USB_DEVICE.CLASS_NAME_FS=CDC
-USART2.VirtualMode-Asynchronous=VM_ASYNC
+USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
-USART3.IPParameters=VirtualMode-Asynchronous
+USB_DEVICE.VirtualMode-CDC_FS=Cdc
-USART3.VirtualMode-Asynchronous=VM_ASYNC
+USB_DEVICE.VirtualModeFS=Cdc_FS
+USB_OTG_FS.IPParameters=VirtualMode
+USB_OTG_FS.VirtualMode=Device_Only
 VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg
 VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
+VP_TIM13_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM13_VS_ClockSourceINT.Signal=TIM13_VS_ClockSourceINT
+VP_TIM14_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM14_VS_ClockSourceINT.Signal=TIM14_VS_ClockSourceINT
+VP_TIM16_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM16_VS_ClockSourceINT.Signal=TIM16_VS_ClockSourceINT
+VP_TIM17_VS_ClockSourceINT.Mode=Enable_Timer
+VP_TIM17_VS_ClockSourceINT.Signal=TIM17_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

board/CubeMX_Config/Drivers/CMSIS/Core/Include/cmsis_armcc.h

@@ -1,894 +0,0 @@
-/**************************************************************************//**
- * @file     cmsis_armcc.h
- * @brief    CMSIS compiler ARMCC (Arm Compiler 5) header file
- * @version  V5.1.0
- * @date     08. May 2019
- ******************************************************************************/
-/*
- * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef __CMSIS_ARMCC_H
-#define __CMSIS_ARMCC_H
-
-
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 400677)
-  #error "Please use Arm Compiler Toolchain V4.0.677 or later!"
-#endif
-
-/* CMSIS compiler control architecture macros */
-#if ((defined (__TARGET_ARCH_6_M  ) && (__TARGET_ARCH_6_M   == 1)) || \
-     (defined (__TARGET_ARCH_6S_M ) && (__TARGET_ARCH_6S_M  == 1))   )
-  #define __ARM_ARCH_6M__           1
-#endif
-
-#if (defined (__TARGET_ARCH_7_M ) && (__TARGET_ARCH_7_M  == 1))
-  #define __ARM_ARCH_7M__           1
-#endif
-
-#if (defined (__TARGET_ARCH_7E_M) && (__TARGET_ARCH_7E_M == 1))
-  #define __ARM_ARCH_7EM__          1
-#endif
-
-  /* __ARM_ARCH_8M_BASE__  not applicable */
-  /* __ARM_ARCH_8M_MAIN__  not applicable */
-
-/* CMSIS compiler control DSP macros */
-#if ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     )
-  #define __ARM_FEATURE_DSP         1
-#endif
-
-/* CMSIS compiler specific defines */
-#ifndef   __ASM
-  #define __ASM                                  __asm
-#endif
-#ifndef   __INLINE
-  #define __INLINE                               __inline
-#endif
-#ifndef   __STATIC_INLINE
-  #define __STATIC_INLINE                        static __inline
-#endif
-#ifndef   __STATIC_FORCEINLINE                 
-  #define __STATIC_FORCEINLINE                   static __forceinline
-#endif           
-#ifndef   __NO_RETURN
-  #define __NO_RETURN                            __declspec(noreturn)
-#endif
-#ifndef   __USED
-  #define __USED                                 __attribute__((used))
-#endif
-#ifndef   __WEAK
-  #define __WEAK                                 __attribute__((weak))
-#endif
-#ifndef   __PACKED
-  #define __PACKED                               __attribute__((packed))
-#endif
-#ifndef   __PACKED_STRUCT
-  #define __PACKED_STRUCT                        __packed struct
-#endif
-#ifndef   __PACKED_UNION
-  #define __PACKED_UNION                         __packed union
-#endif
-#ifndef   __UNALIGNED_UINT32        /* deprecated */
-  #define __UNALIGNED_UINT32(x)                  (*((__packed uint32_t *)(x)))
-#endif
-#ifndef   __UNALIGNED_UINT16_WRITE
-  #define __UNALIGNED_UINT16_WRITE(addr, val)    ((*((__packed uint16_t *)(addr))) = (val))
-#endif
-#ifndef   __UNALIGNED_UINT16_READ
-  #define __UNALIGNED_UINT16_READ(addr)          (*((const __packed uint16_t *)(addr)))
-#endif
-#ifndef   __UNALIGNED_UINT32_WRITE
-  #define __UNALIGNED_UINT32_WRITE(addr, val)    ((*((__packed uint32_t *)(addr))) = (val))
-#endif
-#ifndef   __UNALIGNED_UINT32_READ
-  #define __UNALIGNED_UINT32_READ(addr)          (*((const __packed uint32_t *)(addr)))
-#endif
-#ifndef   __ALIGNED
-  #define __ALIGNED(x)                           __attribute__((aligned(x)))
-#endif
-#ifndef   __RESTRICT
-  #define __RESTRICT                             __restrict
-#endif
-#ifndef   __COMPILER_BARRIER
-  #define __COMPILER_BARRIER()                   __memory_changed()
-#endif
-
-/* #########################  Startup and Lowlevel Init  ######################## */
-
-#ifndef __PROGRAM_START
-#define __PROGRAM_START           __main
-#endif
-
-#ifndef __INITIAL_SP
-#define __INITIAL_SP              Image$$ARM_LIB_STACK$$ZI$$Limit
-#endif
-
-#ifndef __STACK_LIMIT
-#define __STACK_LIMIT             Image$$ARM_LIB_STACK$$ZI$$Base
-#endif
-
-#ifndef __VECTOR_TABLE
-#define __VECTOR_TABLE            __Vectors
-#endif
-
-#ifndef __VECTOR_TABLE_ATTRIBUTE
-#define __VECTOR_TABLE_ATTRIBUTE  __attribute((used, section("RESET")))
-#endif
-
-/* ###########################  Core Function Access  ########################### */
-/** \ingroup  CMSIS_Core_FunctionInterface
-    \defgroup CMSIS_Core_RegAccFunctions CMSIS Core Register Access Functions
-  @{
- */
-
-/**
-  \brief   Enable IRQ Interrupts
-  \details Enables IRQ interrupts by clearing the I-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-/* intrinsic void __enable_irq();     */
-
-
-/**
-  \brief   Disable IRQ Interrupts
-  \details Disables IRQ interrupts by setting the I-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-/* intrinsic void __disable_irq();    */
-
-/**
-  \brief   Get Control Register
-  \details Returns the content of the Control Register.
-  \return               Control Register value
- */
-__STATIC_INLINE uint32_t __get_CONTROL(void)
-{
-  register uint32_t __regControl         __ASM("control");
-  return(__regControl);
-}
-
-
-/**
-  \brief   Set Control Register
-  \details Writes the given value to the Control Register.
-  \param [in]    control  Control Register value to set
- */
-__STATIC_INLINE void __set_CONTROL(uint32_t control)
-{
-  register uint32_t __regControl         __ASM("control");
-  __regControl = control;
-}
-
-
-/**
-  \brief   Get IPSR Register
-  \details Returns the content of the IPSR Register.
-  \return               IPSR Register value
- */
-__STATIC_INLINE uint32_t __get_IPSR(void)
-{
-  register uint32_t __regIPSR          __ASM("ipsr");
-  return(__regIPSR);
-}
-
-
-/**
-  \brief   Get APSR Register
-  \details Returns the content of the APSR Register.
-  \return               APSR Register value
- */
-__STATIC_INLINE uint32_t __get_APSR(void)
-{
-  register uint32_t __regAPSR          __ASM("apsr");
-  return(__regAPSR);
-}
-
-
-/**
-  \brief   Get xPSR Register
-  \details Returns the content of the xPSR Register.
-  \return               xPSR Register value
- */
-__STATIC_INLINE uint32_t __get_xPSR(void)
-{
-  register uint32_t __regXPSR          __ASM("xpsr");
-  return(__regXPSR);
-}
-
-
-/**
-  \brief   Get Process Stack Pointer
-  \details Returns the current value of the Process Stack Pointer (PSP).
-  \return               PSP Register value
- */
-__STATIC_INLINE uint32_t __get_PSP(void)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  return(__regProcessStackPointer);
-}
-
-
-/**
-  \brief   Set Process Stack Pointer
-  \details Assigns the given value to the Process Stack Pointer (PSP).
-  \param [in]    topOfProcStack  Process Stack Pointer value to set
- */
-__STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
-{
-  register uint32_t __regProcessStackPointer  __ASM("psp");
-  __regProcessStackPointer = topOfProcStack;
-}
-
-
-/**
-  \brief   Get Main Stack Pointer
-  \details Returns the current value of the Main Stack Pointer (MSP).
-  \return               MSP Register value
- */
-__STATIC_INLINE uint32_t __get_MSP(void)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  return(__regMainStackPointer);
-}
-
-
-/**
-  \brief   Set Main Stack Pointer
-  \details Assigns the given value to the Main Stack Pointer (MSP).
-  \param [in]    topOfMainStack  Main Stack Pointer value to set
- */
-__STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
-{
-  register uint32_t __regMainStackPointer     __ASM("msp");
-  __regMainStackPointer = topOfMainStack;
-}
-
-
-/**
-  \brief   Get Priority Mask
-  \details Returns the current state of the priority mask bit from the Priority Mask Register.
-  \return               Priority Mask value
- */
-__STATIC_INLINE uint32_t __get_PRIMASK(void)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  return(__regPriMask);
-}
-
-
-/**
-  \brief   Set Priority Mask
-  \details Assigns the given value to the Priority Mask Register.
-  \param [in]    priMask  Priority Mask
- */
-__STATIC_INLINE void __set_PRIMASK(uint32_t priMask)
-{
-  register uint32_t __regPriMask         __ASM("primask");
-  __regPriMask = (priMask);
-}
-
-
-#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__  == 1)) || \
-     (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     )
-
-/**
-  \brief   Enable FIQ
-  \details Enables FIQ interrupts by clearing the F-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-#define __enable_fault_irq                __enable_fiq
-
-
-/**
-  \brief   Disable FIQ
-  \details Disables FIQ interrupts by setting the F-bit in the CPSR.
-           Can only be executed in Privileged modes.
- */
-#define __disable_fault_irq               __disable_fiq
-
-
-/**
-  \brief   Get Base Priority
-  \details Returns the current value of the Base Priority register.
-  \return               Base Priority register value
- */
-__STATIC_INLINE uint32_t  __get_BASEPRI(void)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  return(__regBasePri);
-}
-
-
-/**
-  \brief   Set Base Priority
-  \details Assigns the given value to the Base Priority register.
-  \param [in]    basePri  Base Priority value to set
- */
-__STATIC_INLINE void __set_BASEPRI(uint32_t basePri)
-{
-  register uint32_t __regBasePri         __ASM("basepri");
-  __regBasePri = (basePri & 0xFFU);
-}
-
-
-/**
-  \brief   Set Base Priority with condition
-  \details Assigns the given value to the Base Priority register only if BASEPRI masking is disabled,
-           or the new value increases the BASEPRI priority level.
-  \param [in]    basePri  Base Priority value to set
- */
-__STATIC_INLINE void __set_BASEPRI_MAX(uint32_t basePri)
-{
-  register uint32_t __regBasePriMax      __ASM("basepri_max");
-  __regBasePriMax = (basePri & 0xFFU);
-}
-
-
-/**
-  \brief   Get Fault Mask
-  \details Returns the current value of the Fault Mask register.
-  \return               Fault Mask register value
- */
-__STATIC_INLINE uint32_t __get_FAULTMASK(void)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  return(__regFaultMask);
-}
-
-
-/**
-  \brief   Set Fault Mask
-  \details Assigns the given value to the Fault Mask register.
-  \param [in]    faultMask  Fault Mask value to set
- */
-__STATIC_INLINE void __set_FAULTMASK(uint32_t faultMask)
-{
-  register uint32_t __regFaultMask       __ASM("faultmask");
-  __regFaultMask = (faultMask & (uint32_t)1U);
-}
-
-#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__  == 1)) || \
-           (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     ) */
-
-
-/**
-  \brief   Get FPSCR
-  \details Returns the current value of the Floating Point Status/Control register.
-  \return               Floating Point Status/Control register value
- */
-__STATIC_INLINE uint32_t __get_FPSCR(void)
-{
-#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
-  register uint32_t __regfpscr         __ASM("fpscr");
-  return(__regfpscr);
-#else
-   return(0U);
-#endif
-}
-
-
-/**
-  \brief   Set FPSCR
-  \details Assigns the given value to the Floating Point Status/Control register.
-  \param [in]    fpscr  Floating Point Status/Control value to set
- */
-__STATIC_INLINE void __set_FPSCR(uint32_t fpscr)
-{
-#if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-     (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
-  register uint32_t __regfpscr         __ASM("fpscr");
-  __regfpscr = (fpscr);
-#else
-  (void)fpscr;
-#endif
-}
-
-
-/*@} end of CMSIS_Core_RegAccFunctions */
-
-
-/* ##########################  Core Instruction Access  ######################### */
-/** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
-  Access to dedicated instructions
-  @{
-*/
-
-/**
-  \brief   No Operation
-  \details No Operation does nothing. This instruction can be used for code alignment purposes.
- */
-#define __NOP                             __nop
-
-
-/**
-  \brief   Wait For Interrupt
-  \details Wait For Interrupt is a hint instruction that suspends execution until one of a number of events occurs.
- */
-#define __WFI                             __wfi
-
-
-/**
-  \brief   Wait For Event
-  \details Wait For Event is a hint instruction that permits the processor to enter
-           a low-power state until one of a number of events occurs.
- */
-#define __WFE                             __wfe
-
-
-/**
-  \brief   Send Event
-  \details Send Event is a hint instruction. It causes an event to be signaled to the CPU.
- */
-#define __SEV                             __sev
-
-
-/**
-  \brief   Instruction Synchronization Barrier
-  \details Instruction Synchronization Barrier flushes the pipeline in the processor,
-           so that all instructions following the ISB are fetched from cache or memory,
-           after the instruction has been completed.
- */
-#define __ISB() do {\
-                   __schedule_barrier();\
-                   __isb(0xF);\
-                   __schedule_barrier();\
-                } while (0U)
-
-/**
-  \brief   Data Synchronization Barrier
-  \details Acts as a special kind of Data Memory Barrier.
-           It completes when all explicit memory accesses before this instruction complete.
- */
-#define __DSB() do {\
-                   __schedule_barrier();\
-                   __dsb(0xF);\
-                   __schedule_barrier();\
-                } while (0U)
-
-/**
-  \brief   Data Memory Barrier
-  \details Ensures the apparent order of the explicit memory operations before
-           and after the instruction, without ensuring their completion.
- */
-#define __DMB() do {\
-                   __schedule_barrier();\
-                   __dmb(0xF);\
-                   __schedule_barrier();\
-                } while (0U)
-
-                  
-/**
-  \brief   Reverse byte order (32 bit)
-  \details Reverses the byte order in unsigned integer value. For example, 0x12345678 becomes 0x78563412.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-#define __REV                             __rev
-
-
-/**
-  \brief   Reverse byte order (16 bit)
-  \details Reverses the byte order within each halfword of a word. For example, 0x12345678 becomes 0x34127856.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-#ifndef __NO_EMBEDDED_ASM
-__attribute__((section(".rev16_text"))) __STATIC_INLINE __ASM uint32_t __REV16(uint32_t value)
-{
-  rev16 r0, r0
-  bx lr
-}
-#endif
-
-
-/**
-  \brief   Reverse byte order (16 bit)
-  \details Reverses the byte order in a 16-bit value and returns the signed 16-bit result. For example, 0x0080 becomes 0x8000.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-#ifndef __NO_EMBEDDED_ASM
-__attribute__((section(".revsh_text"))) __STATIC_INLINE __ASM int16_t __REVSH(int16_t value)
-{
-  revsh r0, r0
-  bx lr
-}
-#endif
-
-
-/**
-  \brief   Rotate Right in unsigned value (32 bit)
-  \details Rotate Right (immediate) provides the value of the contents of a register rotated by a variable number of bits.
-  \param [in]    op1  Value to rotate
-  \param [in]    op2  Number of Bits to rotate
-  \return               Rotated value
- */
-#define __ROR                             __ror
-
-
-/**
-  \brief   Breakpoint
-  \details Causes the processor to enter Debug state.
-           Debug tools can use this to investigate system state when the instruction at a particular address is reached.
-  \param [in]    value  is ignored by the processor.
-                 If required, a debugger can use it to store additional information about the breakpoint.
- */
-#define __BKPT(value)                       __breakpoint(value)
-
-
-/**
-  \brief   Reverse bit order of value
-  \details Reverses the bit order of the given value.
-  \param [in]    value  Value to reverse
-  \return               Reversed value
- */
-#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__  == 1)) || \
-     (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     )
-  #define __RBIT                          __rbit
-#else
-__attribute__((always_inline)) __STATIC_INLINE uint32_t __RBIT(uint32_t value)
-{
-  uint32_t result;
-  uint32_t s = (4U /*sizeof(v)*/ * 8U) - 1U; /* extra shift needed at end */
-
-  result = value;                      /* r will be reversed bits of v; first get LSB of v */
-  for (value >>= 1U; value != 0U; value >>= 1U)
-  {
-    result <<= 1U;
-    result |= value & 1U;
-    s--;
-  }
-  result <<= s;                        /* shift when v's highest bits are zero */
-  return result;
-}
-#endif
-
-
-/**
-  \brief   Count leading zeros
-  \details Counts the number of leading zeros of a data value.
-  \param [in]  value  Value to count the leading zeros
-  \return             number of leading zeros in value
- */
-#define __CLZ                             __clz
-
-
-#if ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__  == 1)) || \
-     (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     )
-
-/**
-  \brief   LDR Exclusive (8 bit)
-  \details Executes a exclusive LDR instruction for 8 bit value.
-  \param [in]    ptr  Pointer to data
-  \return             value of type uint8_t at (*ptr)
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
-  #define __LDREXB(ptr)                                                        ((uint8_t ) __ldrex(ptr))
-#else
-  #define __LDREXB(ptr)          _Pragma("push") _Pragma("diag_suppress 3731") ((uint8_t ) __ldrex(ptr))  _Pragma("pop")
-#endif
-
-
-/**
-  \brief   LDR Exclusive (16 bit)
-  \details Executes a exclusive LDR instruction for 16 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint16_t at (*ptr)
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
-  #define __LDREXH(ptr)                                                        ((uint16_t) __ldrex(ptr))
-#else
-  #define __LDREXH(ptr)          _Pragma("push") _Pragma("diag_suppress 3731") ((uint16_t) __ldrex(ptr))  _Pragma("pop")
-#endif
-
-
-/**
-  \brief   LDR Exclusive (32 bit)
-  \details Executes a exclusive LDR instruction for 32 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint32_t at (*ptr)
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
-  #define __LDREXW(ptr)                                                        ((uint32_t ) __ldrex(ptr))
-#else
-  #define __LDREXW(ptr)          _Pragma("push") _Pragma("diag_suppress 3731") ((uint32_t ) __ldrex(ptr))  _Pragma("pop")
-#endif
-
-
-/**
-  \brief   STR Exclusive (8 bit)
-  \details Executes a exclusive STR instruction for 8 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
-  #define __STREXB(value, ptr)                                                 __strex(value, ptr)
-#else
-  #define __STREXB(value, ptr)   _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr)        _Pragma("pop")
-#endif
-
-
-/**
-  \brief   STR Exclusive (16 bit)
-  \details Executes a exclusive STR instruction for 16 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
-  #define __STREXH(value, ptr)                                                 __strex(value, ptr)
-#else
-  #define __STREXH(value, ptr)   _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr)        _Pragma("pop")
-#endif
-
-
-/**
-  \brief   STR Exclusive (32 bit)
-  \details Executes a exclusive STR instruction for 32 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
-  \return          0  Function succeeded
-  \return          1  Function failed
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION < 5060020)
-  #define __STREXW(value, ptr)                                                 __strex(value, ptr)
-#else
-  #define __STREXW(value, ptr)   _Pragma("push") _Pragma("diag_suppress 3731") __strex(value, ptr)        _Pragma("pop")
-#endif
-
-
-/**
-  \brief   Remove the exclusive lock
-  \details Removes the exclusive lock which is created by LDREX.
- */
-#define __CLREX                           __clrex
-
-
-/**
-  \brief   Signed Saturate
-  \details Saturates a signed value.
-  \param [in]  value  Value to be saturated
-  \param [in]    sat  Bit position to saturate to (1..32)
-  \return             Saturated value
- */
-#define __SSAT                            __ssat
-
-
-/**
-  \brief   Unsigned Saturate
-  \details Saturates an unsigned value.
-  \param [in]  value  Value to be saturated
-  \param [in]    sat  Bit position to saturate to (0..31)
-  \return             Saturated value
- */
-#define __USAT                            __usat
-
-
-/**
-  \brief   Rotate Right with Extend (32 bit)
-  \details Moves each bit of a bitstring right by one bit.
-           The carry input is shifted in at the left end of the bitstring.
-  \param [in]    value  Value to rotate
-  \return               Rotated value
- */
-#ifndef __NO_EMBEDDED_ASM
-__attribute__((section(".rrx_text"))) __STATIC_INLINE __ASM uint32_t __RRX(uint32_t value)
-{
-  rrx r0, r0
-  bx lr
-}
-#endif
-
-
-/**
-  \brief   LDRT Unprivileged (8 bit)
-  \details Executes a Unprivileged LDRT instruction for 8 bit value.
-  \param [in]    ptr  Pointer to data
-  \return             value of type uint8_t at (*ptr)
- */
-#define __LDRBT(ptr)                      ((uint8_t )  __ldrt(ptr))
-
-
-/**
-  \brief   LDRT Unprivileged (16 bit)
-  \details Executes a Unprivileged LDRT instruction for 16 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint16_t at (*ptr)
- */
-#define __LDRHT(ptr)                      ((uint16_t)  __ldrt(ptr))
-
-
-/**
-  \brief   LDRT Unprivileged (32 bit)
-  \details Executes a Unprivileged LDRT instruction for 32 bit values.
-  \param [in]    ptr  Pointer to data
-  \return        value of type uint32_t at (*ptr)
- */
-#define __LDRT(ptr)                       ((uint32_t ) __ldrt(ptr))
-
-
-/**
-  \brief   STRT Unprivileged (8 bit)
-  \details Executes a Unprivileged STRT instruction for 8 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-#define __STRBT(value, ptr)               __strt(value, ptr)
-
-
-/**
-  \brief   STRT Unprivileged (16 bit)
-  \details Executes a Unprivileged STRT instruction for 16 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-#define __STRHT(value, ptr)               __strt(value, ptr)
-
-
-/**
-  \brief   STRT Unprivileged (32 bit)
-  \details Executes a Unprivileged STRT instruction for 32 bit values.
-  \param [in]  value  Value to store
-  \param [in]    ptr  Pointer to location
- */
-#define __STRT(value, ptr)                __strt(value, ptr)
-
-#else  /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__  == 1)) || \
-           (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     ) */
-
-/**
-  \brief   Signed Saturate
-  \details Saturates a signed value.
-  \param [in]  value  Value to be saturated
-  \param [in]    sat  Bit position to saturate to (1..32)
-  \return             Saturated value
- */
-__attribute__((always_inline)) __STATIC_INLINE int32_t __SSAT(int32_t val, uint32_t sat)
-{
-  if ((sat >= 1U) && (sat <= 32U))
-  {
-    const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
-    const int32_t min = -1 - max ;
-    if (val > max)
-    {
-      return max;
-    }
-    else if (val < min)
-    {
-      return min;
-    }
-  }
-  return val;
-}
-
-/**
-  \brief   Unsigned Saturate
-  \details Saturates an unsigned value.
-  \param [in]  value  Value to be saturated
-  \param [in]    sat  Bit position to saturate to (0..31)
-  \return             Saturated value
- */
-__attribute__((always_inline)) __STATIC_INLINE uint32_t __USAT(int32_t val, uint32_t sat)
-{
-  if (sat <= 31U)
-  {
-    const uint32_t max = ((1U << sat) - 1U);
-    if (val > (int32_t)max)
-    {
-      return max;
-    }
-    else if (val < 0)
-    {
-      return 0U;
-    }
-  }
-  return (uint32_t)val;
-}
-
-#endif /* ((defined (__ARM_ARCH_7M__ ) && (__ARM_ARCH_7M__  == 1)) || \
-           (defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     ) */
-
-/*@}*/ /* end of group CMSIS_Core_InstructionInterface */
-
-
-/* ###################  Compiler specific Intrinsics  ########################### */
-/** \defgroup CMSIS_SIMD_intrinsics CMSIS SIMD Intrinsics
-  Access to dedicated SIMD instructions
-  @{
-*/
-
-#if ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     )
-
-#define __SADD8                           __sadd8
-#define __QADD8                           __qadd8
-#define __SHADD8                          __shadd8
-#define __UADD8                           __uadd8
-#define __UQADD8                          __uqadd8
-#define __UHADD8                          __uhadd8
-#define __SSUB8                           __ssub8
-#define __QSUB8                           __qsub8
-#define __SHSUB8                          __shsub8
-#define __USUB8                           __usub8
-#define __UQSUB8                          __uqsub8
-#define __UHSUB8                          __uhsub8
-#define __SADD16                          __sadd16
-#define __QADD16                          __qadd16
-#define __SHADD16                         __shadd16
-#define __UADD16                          __uadd16
-#define __UQADD16                         __uqadd16
-#define __UHADD16                         __uhadd16
-#define __SSUB16                          __ssub16
-#define __QSUB16                          __qsub16
-#define __SHSUB16                         __shsub16
-#define __USUB16                          __usub16
-#define __UQSUB16                         __uqsub16
-#define __UHSUB16                         __uhsub16
-#define __SASX                            __sasx
-#define __QASX                            __qasx
-#define __SHASX                           __shasx
-#define __UASX                            __uasx
-#define __UQASX                           __uqasx
-#define __UHASX                           __uhasx
-#define __SSAX                            __ssax
-#define __QSAX                            __qsax
-#define __SHSAX                           __shsax
-#define __USAX                            __usax
-#define __UQSAX                           __uqsax
-#define __UHSAX                           __uhsax
-#define __USAD8                           __usad8
-#define __USADA8                          __usada8
-#define __SSAT16                          __ssat16
-#define __USAT16                          __usat16
-#define __UXTB16                          __uxtb16
-#define __UXTAB16                         __uxtab16
-#define __SXTB16                          __sxtb16
-#define __SXTAB16                         __sxtab16
-#define __SMUAD                           __smuad
-#define __SMUADX                          __smuadx
-#define __SMLAD                           __smlad
-#define __SMLADX                          __smladx
-#define __SMLALD                          __smlald
-#define __SMLALDX                         __smlaldx
-#define __SMUSD                           __smusd
-#define __SMUSDX                          __smusdx
-#define __SMLSD                           __smlsd
-#define __SMLSDX                          __smlsdx
-#define __SMLSLD                          __smlsld
-#define __SMLSLDX                         __smlsldx
-#define __SEL                             __sel
-#define __QADD                            __qadd
-#define __QSUB                            __qsub
-
-#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
-                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
-
-#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
-                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
-
-#define __SMMLA(ARG1,ARG2,ARG3)          ( (int32_t)((((int64_t)(ARG1) * (ARG2)) + \
-                                                      ((int64_t)(ARG3) << 32U)     ) >> 32U))
-
-#endif /* ((defined (__ARM_ARCH_7EM__) && (__ARM_ARCH_7EM__ == 1))     ) */
-/*@} end of group CMSIS_SIMD_intrinsics */
-
-
-#endif /* __CMSIS_ARMCC_H */

board/CubeMX_Config/Drivers/CMSIS/Core/Include/cmsis_compiler.h

@@ -1,283 +0,0 @@
-/**************************************************************************//**
- * @file     cmsis_compiler.h
- * @brief    CMSIS compiler generic header file
- * @version  V5.1.0
- * @date     09. October 2018
- ******************************************************************************/
-/*
- * Copyright (c) 2009-2018 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef __CMSIS_COMPILER_H
-#define __CMSIS_COMPILER_H
-
-#include <stdint.h>
-
-/*
- * Arm Compiler 4/5
- */
-#if   defined ( __CC_ARM )
-  #include "cmsis_armcc.h"
-
-
-/*
- * Arm Compiler 6.6 LTM (armclang)
- */
-#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050) && (__ARMCC_VERSION < 6100100)
-  #include "cmsis_armclang_ltm.h"
-
-  /*
- * Arm Compiler above 6.10.1 (armclang)
- */
-#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6100100)
-  #include "cmsis_armclang.h"
-
-
-/*
- * GNU Compiler
- */
-#elif defined ( __GNUC__ )
-  #include "cmsis_gcc.h"
-
-
-/*
- * IAR Compiler
- */
-#elif defined ( __ICCARM__ )
-  #include <cmsis_iccarm.h>
-
-
-/*
- * TI Arm Compiler
- */
-#elif defined ( __TI_ARM__ )
-  #include <cmsis_ccs.h>
-
-  #ifndef   __ASM
-    #define __ASM                                  __asm
-  #endif
-  #ifndef   __INLINE
-    #define __INLINE                               inline
-  #endif
-  #ifndef   __STATIC_INLINE
-    #define __STATIC_INLINE                        static inline
-  #endif
-  #ifndef   __STATIC_FORCEINLINE
-    #define __STATIC_FORCEINLINE                   __STATIC_INLINE
-  #endif
-  #ifndef   __NO_RETURN
-    #define __NO_RETURN                            __attribute__((noreturn))
-  #endif
-  #ifndef   __USED
-    #define __USED                                 __attribute__((used))
-  #endif
-  #ifndef   __WEAK
-    #define __WEAK                                 __attribute__((weak))
-  #endif
-  #ifndef   __PACKED
-    #define __PACKED                               __attribute__((packed))
-  #endif
-  #ifndef   __PACKED_STRUCT
-    #define __PACKED_STRUCT                        struct __attribute__((packed))
-  #endif
-  #ifndef   __PACKED_UNION
-    #define __PACKED_UNION                         union __attribute__((packed))
-  #endif
-  #ifndef   __UNALIGNED_UINT32        /* deprecated */
-    struct __attribute__((packed)) T_UINT32 { uint32_t v; };
-    #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
-  #endif
-  #ifndef   __UNALIGNED_UINT16_WRITE
-    __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
-    #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void*)(addr))->v) = (val))
-  #endif
-  #ifndef   __UNALIGNED_UINT16_READ
-    __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
-    #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
-  #endif
-  #ifndef   __UNALIGNED_UINT32_WRITE
-    __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
-    #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
-  #endif
-  #ifndef   __UNALIGNED_UINT32_READ
-    __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
-    #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
-  #endif
-  #ifndef   __ALIGNED
-    #define __ALIGNED(x)                           __attribute__((aligned(x)))
-  #endif
-  #ifndef   __RESTRICT
-    #define __RESTRICT                             __restrict
-  #endif
-  #ifndef   __COMPILER_BARRIER
-    #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
-    #define __COMPILER_BARRIER()                   (void)0
-  #endif
-
-
-/*
- * TASKING Compiler
- */
-#elif defined ( __TASKING__ )
-  /*
-   * The CMSIS functions have been implemented as intrinsics in the compiler.
-   * Please use "carm -?i" to get an up to date list of all intrinsics,
-   * Including the CMSIS ones.
-   */
-
-  #ifndef   __ASM
-    #define __ASM                                  __asm
-  #endif
-  #ifndef   __INLINE
-    #define __INLINE                               inline
-  #endif
-  #ifndef   __STATIC_INLINE
-    #define __STATIC_INLINE                        static inline
-  #endif
-  #ifndef   __STATIC_FORCEINLINE
-    #define __STATIC_FORCEINLINE                   __STATIC_INLINE
-  #endif
-  #ifndef   __NO_RETURN
-    #define __NO_RETURN                            __attribute__((noreturn))
-  #endif
-  #ifndef   __USED
-    #define __USED                                 __attribute__((used))
-  #endif
-  #ifndef   __WEAK
-    #define __WEAK                                 __attribute__((weak))
-  #endif
-  #ifndef   __PACKED
-    #define __PACKED                               __packed__
-  #endif
-  #ifndef   __PACKED_STRUCT
-    #define __PACKED_STRUCT                        struct __packed__
-  #endif
-  #ifndef   __PACKED_UNION
-    #define __PACKED_UNION                         union __packed__
-  #endif
-  #ifndef   __UNALIGNED_UINT32        /* deprecated */
-    struct __packed__ T_UINT32 { uint32_t v; };
-    #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
-  #endif
-  #ifndef   __UNALIGNED_UINT16_WRITE
-    __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
-    #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
-  #endif
-  #ifndef   __UNALIGNED_UINT16_READ
-    __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
-    #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
-  #endif
-  #ifndef   __UNALIGNED_UINT32_WRITE
-    __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
-    #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
-  #endif
-  #ifndef   __UNALIGNED_UINT32_READ
-    __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
-    #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
-  #endif
-  #ifndef   __ALIGNED
-    #define __ALIGNED(x)              __align(x)
-  #endif
-  #ifndef   __RESTRICT
-    #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
-    #define __RESTRICT
-  #endif
-  #ifndef   __COMPILER_BARRIER
-    #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
-    #define __COMPILER_BARRIER()                   (void)0
-  #endif
-
-
-/*
- * COSMIC Compiler
- */
-#elif defined ( __CSMC__ )
-   #include <cmsis_csm.h>
-
- #ifndef   __ASM
-    #define __ASM                                  _asm
-  #endif
-  #ifndef   __INLINE
-    #define __INLINE                               inline
-  #endif
-  #ifndef   __STATIC_INLINE
-    #define __STATIC_INLINE                        static inline
-  #endif
-  #ifndef   __STATIC_FORCEINLINE
-    #define __STATIC_FORCEINLINE                   __STATIC_INLINE
-  #endif
-  #ifndef   __NO_RETURN
-    // NO RETURN is automatically detected hence no warning here
-    #define __NO_RETURN
-  #endif
-  #ifndef   __USED
-    #warning No compiler specific solution for __USED. __USED is ignored.
-    #define __USED
-  #endif
-  #ifndef   __WEAK
-    #define __WEAK                                 __weak
-  #endif
-  #ifndef   __PACKED
-    #define __PACKED                               @packed
-  #endif
-  #ifndef   __PACKED_STRUCT
-    #define __PACKED_STRUCT                        @packed struct
-  #endif
-  #ifndef   __PACKED_UNION
-    #define __PACKED_UNION                         @packed union
-  #endif
-  #ifndef   __UNALIGNED_UINT32        /* deprecated */
-    @packed struct T_UINT32 { uint32_t v; };
-    #define __UNALIGNED_UINT32(x)                  (((struct T_UINT32 *)(x))->v)
-  #endif
-  #ifndef   __UNALIGNED_UINT16_WRITE
-    __PACKED_STRUCT T_UINT16_WRITE { uint16_t v; };
-    #define __UNALIGNED_UINT16_WRITE(addr, val)    (void)((((struct T_UINT16_WRITE *)(void *)(addr))->v) = (val))
-  #endif
-  #ifndef   __UNALIGNED_UINT16_READ
-    __PACKED_STRUCT T_UINT16_READ { uint16_t v; };
-    #define __UNALIGNED_UINT16_READ(addr)          (((const struct T_UINT16_READ *)(const void *)(addr))->v)
-  #endif
-  #ifndef   __UNALIGNED_UINT32_WRITE
-    __PACKED_STRUCT T_UINT32_WRITE { uint32_t v; };
-    #define __UNALIGNED_UINT32_WRITE(addr, val)    (void)((((struct T_UINT32_WRITE *)(void *)(addr))->v) = (val))
-  #endif
-  #ifndef   __UNALIGNED_UINT32_READ
-    __PACKED_STRUCT T_UINT32_READ { uint32_t v; };
-    #define __UNALIGNED_UINT32_READ(addr)          (((const struct T_UINT32_READ *)(const void *)(addr))->v)
-  #endif
-  #ifndef   __ALIGNED
-    #warning No compiler specific solution for __ALIGNED. __ALIGNED is ignored.
-    #define __ALIGNED(x)
-  #endif
-  #ifndef   __RESTRICT
-    #warning No compiler specific solution for __RESTRICT. __RESTRICT is ignored.
-    #define __RESTRICT
-  #endif
-  #ifndef   __COMPILER_BARRIER
-    #warning No compiler specific solution for __COMPILER_BARRIER. __COMPILER_BARRIER is ignored.
-    #define __COMPILER_BARRIER()                   (void)0
-  #endif
-
-
-#else
-  #error Unknown compiler.
-#endif
-
-
-#endif /* __CMSIS_COMPILER_H */
-

board/CubeMX_Config/Drivers/CMSIS/Core/Include/cmsis_iccarm.h

@@ -1,964 +0,0 @@
-/**************************************************************************//**
- * @file     cmsis_iccarm.h
- * @brief    CMSIS compiler ICCARM (IAR Compiler for Arm) header file
- * @version  V5.1.0
- * @date     08. May 2019
- ******************************************************************************/
-
-//------------------------------------------------------------------------------
-//
-// Copyright (c) 2017-2019 IAR Systems
-// Copyright (c) 2017-2019 Arm Limited. All rights reserved. 
-//
-// Licensed under the Apache License, Version 2.0 (the "License")
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-//
-//------------------------------------------------------------------------------
-
-
-#ifndef __CMSIS_ICCARM_H__
-#define __CMSIS_ICCARM_H__
-
-#ifndef __ICCARM__
-  #error This file should only be compiled by ICCARM
-#endif
-
-#pragma system_include
-
-#define __IAR_FT _Pragma("inline=forced") __intrinsic
-
-#if (__VER__ >= 8000000)
-  #define __ICCARM_V8 1
-#else
-  #define __ICCARM_V8 0
-#endif
-
-#ifndef __ALIGNED
-  #if __ICCARM_V8
-    #define __ALIGNED(x) __attribute__((aligned(x)))
-  #elif (__VER__ >= 7080000)
-    /* Needs IAR language extensions */
-    #define __ALIGNED(x) __attribute__((aligned(x)))
-  #else
-    #warning No compiler specific solution for __ALIGNED.__ALIGNED is ignored.
-    #define __ALIGNED(x)
-  #endif
-#endif
-
-
-/* Define compiler macros for CPU architecture, used in CMSIS 5.
- */
-#if __ARM_ARCH_6M__ || __ARM_ARCH_7M__ || __ARM_ARCH_7EM__ || __ARM_ARCH_8M_BASE__ || __ARM_ARCH_8M_MAIN__
-/* Macros already defined */
-#else
-  #if defined(__ARM8M_MAINLINE__) || defined(__ARM8EM_MAINLINE__)
-    #define __ARM_ARCH_8M_MAIN__ 1
-  #elif defined(__ARM8M_BASELINE__)
-    #define __ARM_ARCH_8M_BASE__ 1
-  #elif defined(__ARM_ARCH_PROFILE) && __ARM_ARCH_PROFILE == 'M'
-    #if __ARM_ARCH == 6
-      #define __ARM_ARCH_6M__ 1
-    #elif __ARM_ARCH == 7
-      #if __ARM_FEATURE_DSP
-        #define __ARM_ARCH_7EM__ 1
-      #else
-        #define __ARM_ARCH_7M__ 1
-      #endif
-    #endif /* __ARM_ARCH */
-  #endif /* __ARM_ARCH_PROFILE == 'M' */
-#endif
-
-/* Alternativ core deduction for older ICCARM's */
-#if !defined(__ARM_ARCH_6M__) && !defined(__ARM_ARCH_7M__) && !defined(__ARM_ARCH_7EM__) && \
-    !defined(__ARM_ARCH_8M_BASE__) && !defined(__ARM_ARCH_8M_MAIN__)
-  #if defined(__ARM6M__) && (__CORE__ == __ARM6M__)
-    #define __ARM_ARCH_6M__ 1
-  #elif defined(__ARM7M__) && (__CORE__ == __ARM7M__)
-    #define __ARM_ARCH_7M__ 1
-  #elif defined(__ARM7EM__) && (__CORE__ == __ARM7EM__)
-    #define __ARM_ARCH_7EM__  1
-  #elif defined(__ARM8M_BASELINE__) && (__CORE == __ARM8M_BASELINE__)
-    #define __ARM_ARCH_8M_BASE__ 1
-  #elif defined(__ARM8M_MAINLINE__) && (__CORE == __ARM8M_MAINLINE__)
-    #define __ARM_ARCH_8M_MAIN__ 1
-  #elif defined(__ARM8EM_MAINLINE__) && (__CORE == __ARM8EM_MAINLINE__)
-    #define __ARM_ARCH_8M_MAIN__ 1
-  #else
-    #error "Unknown target."
-  #endif
-#endif
-
-
-
-#if defined(__ARM_ARCH_6M__) && __ARM_ARCH_6M__==1
-  #define __IAR_M0_FAMILY  1
-#elif defined(__ARM_ARCH_8M_BASE__) && __ARM_ARCH_8M_BASE__==1
-  #define __IAR_M0_FAMILY  1
-#else
-  #define __IAR_M0_FAMILY  0
-#endif
-
-
-#ifndef __ASM
-  #define __ASM __asm
-#endif
-
-#ifndef   __COMPILER_BARRIER
-  #define __COMPILER_BARRIER() __ASM volatile("":::"memory")
-#endif
-
-#ifndef __INLINE
-  #define __INLINE inline
-#endif
-
-#ifndef   __NO_RETURN
-  #if __ICCARM_V8
-    #define __NO_RETURN __attribute__((__noreturn__))
-  #else
-    #define __NO_RETURN _Pragma("object_attribute=__noreturn")
-  #endif
-#endif
-
-#ifndef   __PACKED
-  #if __ICCARM_V8
-    #define __PACKED __attribute__((packed, aligned(1)))
-  #else
-    /* Needs IAR language extensions */
-    #define __PACKED __packed
-  #endif
-#endif
-
-#ifndef   __PACKED_STRUCT
-  #if __ICCARM_V8
-    #define __PACKED_STRUCT struct __attribute__((packed, aligned(1)))
-  #else
-    /* Needs IAR language extensions */
-    #define __PACKED_STRUCT __packed struct
-  #endif
-#endif
-
-#ifndef   __PACKED_UNION
-  #if __ICCARM_V8
-    #define __PACKED_UNION union __attribute__((packed, aligned(1)))
-  #else
-    /* Needs IAR language extensions */
-    #define __PACKED_UNION __packed union
-  #endif
-#endif
-
-#ifndef   __RESTRICT
-  #if __ICCARM_V8
-    #define __RESTRICT            __restrict
-  #else
-    /* Needs IAR language extensions */
-    #define __RESTRICT            restrict
-  #endif
-#endif
-
-#ifndef   __STATIC_INLINE
-  #define __STATIC_INLINE       static inline
-#endif
-
-#ifndef   __FORCEINLINE
-  #define __FORCEINLINE         _Pragma("inline=forced")
-#endif
-
-#ifndef   __STATIC_FORCEINLINE
-  #define __STATIC_FORCEINLINE  __FORCEINLINE __STATIC_INLINE
-#endif
-
-#ifndef __UNALIGNED_UINT16_READ
-#pragma language=save
-#pragma language=extended
-__IAR_FT uint16_t __iar_uint16_read(void const *ptr)
-{
-  return *(__packed uint16_t*)(ptr);
-}
-#pragma language=restore
-#define __UNALIGNED_UINT16_READ(PTR) __iar_uint16_read(PTR)
-#endif
-
-
-#ifndef __UNALIGNED_UINT16_WRITE
-#pragma language=save
-#pragma language=extended
-__IAR_FT void __iar_uint16_write(void const *ptr, uint16_t val)
-{
-  *(__packed uint16_t*)(ptr) = val;;
-}
-#pragma language=restore
-#define __UNALIGNED_UINT16_WRITE(PTR,VAL) __iar_uint16_write(PTR,VAL)
-#endif
-
-#ifndef __UNALIGNED_UINT32_READ
-#pragma language=save
-#pragma language=extended
-__IAR_FT uint32_t __iar_uint32_read(void const *ptr)
-{
-  return *(__packed uint32_t*)(ptr);
-}
-#pragma language=restore
-#define __UNALIGNED_UINT32_READ(PTR) __iar_uint32_read(PTR)
-#endif
-
-#ifndef __UNALIGNED_UINT32_WRITE
-#pragma language=save
-#pragma language=extended
-__IAR_FT void __iar_uint32_write(void const *ptr, uint32_t val)
-{
-  *(__packed uint32_t*)(ptr) = val;;
-}
-#pragma language=restore
-#define __UNALIGNED_UINT32_WRITE(PTR,VAL) __iar_uint32_write(PTR,VAL)
-#endif
-
-#ifndef __UNALIGNED_UINT32   /* deprecated */
-#pragma language=save
-#pragma language=extended
-__packed struct  __iar_u32 { uint32_t v; };
-#pragma language=restore
-#define __UNALIGNED_UINT32(PTR) (((struct __iar_u32 *)(PTR))->v)
-#endif
-
-#ifndef   __USED
-  #if __ICCARM_V8
-    #define __USED __attribute__((used))
-  #else
-    #define __USED _Pragma("__root")
-  #endif
-#endif
-
-#ifndef   __WEAK
-  #if __ICCARM_V8
-    #define __WEAK __attribute__((weak))
-  #else
-    #define __WEAK _Pragma("__weak")
-  #endif
-#endif
-
-#ifndef __PROGRAM_START
-#define __PROGRAM_START           __iar_program_start
-#endif
-
-#ifndef __INITIAL_SP
-#define __INITIAL_SP              CSTACK$$Limit
-#endif
-
-#ifndef __STACK_LIMIT
-#define __STACK_LIMIT             CSTACK$$Base
-#endif
-
-#ifndef __VECTOR_TABLE
-#define __VECTOR_TABLE            __vector_table
-#endif
-
-#ifndef __VECTOR_TABLE_ATTRIBUTE
-#define __VECTOR_TABLE_ATTRIBUTE  @".intvec"
-#endif
-
-#ifndef __ICCARM_INTRINSICS_VERSION__
-  #define __ICCARM_INTRINSICS_VERSION__  0
-#endif
-
-#if __ICCARM_INTRINSICS_VERSION__ == 2
-
-  #if defined(__CLZ)
-    #undef __CLZ
-  #endif
-  #if defined(__REVSH)
-    #undef __REVSH
-  #endif
-  #if defined(__RBIT)
-    #undef __RBIT
-  #endif
-  #if defined(__SSAT)
-    #undef __SSAT
-  #endif
-  #if defined(__USAT)
-    #undef __USAT
-  #endif
-
-  #include "iccarm_builtin.h"
-
-  #define __disable_fault_irq __iar_builtin_disable_fiq
-  #define __disable_irq       __iar_builtin_disable_interrupt
-  #define __enable_fault_irq  __iar_builtin_enable_fiq
-  #define __enable_irq        __iar_builtin_enable_interrupt
-  #define __arm_rsr           __iar_builtin_rsr
-  #define __arm_wsr           __iar_builtin_wsr
-
-
-  #define __get_APSR()                (__arm_rsr("APSR"))
-  #define __get_BASEPRI()             (__arm_rsr("BASEPRI"))
-  #define __get_CONTROL()             (__arm_rsr("CONTROL"))
-  #define __get_FAULTMASK()           (__arm_rsr("FAULTMASK"))
-
-  #if ((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-       (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     )
-    #define __get_FPSCR()             (__arm_rsr("FPSCR"))
-    #define __set_FPSCR(VALUE)        (__arm_wsr("FPSCR", (VALUE)))
-  #else
-    #define __get_FPSCR()             ( 0 )
-    #define __set_FPSCR(VALUE)        ((void)VALUE)
-  #endif
-
-  #define __get_IPSR()                (__arm_rsr("IPSR"))
-  #define __get_MSP()                 (__arm_rsr("MSP"))
-  #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-       (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-    // without main extensions, the non-secure MSPLIM is RAZ/WI
-    #define __get_MSPLIM()            (0U)
-  #else
-    #define __get_MSPLIM()            (__arm_rsr("MSPLIM"))
-  #endif
-  #define __get_PRIMASK()             (__arm_rsr("PRIMASK"))
-  #define __get_PSP()                 (__arm_rsr("PSP"))
-
-  #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-       (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-    // without main extensions, the non-secure PSPLIM is RAZ/WI
-    #define __get_PSPLIM()            (0U)
-  #else
-    #define __get_PSPLIM()            (__arm_rsr("PSPLIM"))
-  #endif
-
-  #define __get_xPSR()                (__arm_rsr("xPSR"))
-
-  #define __set_BASEPRI(VALUE)        (__arm_wsr("BASEPRI", (VALUE)))
-  #define __set_BASEPRI_MAX(VALUE)    (__arm_wsr("BASEPRI_MAX", (VALUE)))
-  #define __set_CONTROL(VALUE)        (__arm_wsr("CONTROL", (VALUE)))
-  #define __set_FAULTMASK(VALUE)      (__arm_wsr("FAULTMASK", (VALUE)))
-  #define __set_MSP(VALUE)            (__arm_wsr("MSP", (VALUE)))
-
-  #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-       (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-    // without main extensions, the non-secure MSPLIM is RAZ/WI
-    #define __set_MSPLIM(VALUE)       ((void)(VALUE))
-  #else
-    #define __set_MSPLIM(VALUE)       (__arm_wsr("MSPLIM", (VALUE)))
-  #endif
-  #define __set_PRIMASK(VALUE)        (__arm_wsr("PRIMASK", (VALUE)))
-  #define __set_PSP(VALUE)            (__arm_wsr("PSP", (VALUE)))
-  #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-       (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-    // without main extensions, the non-secure PSPLIM is RAZ/WI
-    #define __set_PSPLIM(VALUE)       ((void)(VALUE))
-  #else
-    #define __set_PSPLIM(VALUE)       (__arm_wsr("PSPLIM", (VALUE)))
-  #endif
-
-  #define __TZ_get_CONTROL_NS()       (__arm_rsr("CONTROL_NS"))
-  #define __TZ_set_CONTROL_NS(VALUE)  (__arm_wsr("CONTROL_NS", (VALUE)))
-  #define __TZ_get_PSP_NS()           (__arm_rsr("PSP_NS"))
-  #define __TZ_set_PSP_NS(VALUE)      (__arm_wsr("PSP_NS", (VALUE)))
-  #define __TZ_get_MSP_NS()           (__arm_rsr("MSP_NS"))
-  #define __TZ_set_MSP_NS(VALUE)      (__arm_wsr("MSP_NS", (VALUE)))
-  #define __TZ_get_SP_NS()            (__arm_rsr("SP_NS"))
-  #define __TZ_set_SP_NS(VALUE)       (__arm_wsr("SP_NS", (VALUE)))
-  #define __TZ_get_PRIMASK_NS()       (__arm_rsr("PRIMASK_NS"))
-  #define __TZ_set_PRIMASK_NS(VALUE)  (__arm_wsr("PRIMASK_NS", (VALUE)))
-  #define __TZ_get_BASEPRI_NS()       (__arm_rsr("BASEPRI_NS"))
-  #define __TZ_set_BASEPRI_NS(VALUE)  (__arm_wsr("BASEPRI_NS", (VALUE)))
-  #define __TZ_get_FAULTMASK_NS()     (__arm_rsr("FAULTMASK_NS"))
-  #define __TZ_set_FAULTMASK_NS(VALUE)(__arm_wsr("FAULTMASK_NS", (VALUE)))
-
-  #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-       (!defined (__ARM_FEATURE_CMSE) || (__ARM_FEATURE_CMSE < 3)))
-    // without main extensions, the non-secure PSPLIM is RAZ/WI
-    #define __TZ_get_PSPLIM_NS()      (0U)
-    #define __TZ_set_PSPLIM_NS(VALUE) ((void)(VALUE))
-  #else
-    #define __TZ_get_PSPLIM_NS()      (__arm_rsr("PSPLIM_NS"))
-    #define __TZ_set_PSPLIM_NS(VALUE) (__arm_wsr("PSPLIM_NS", (VALUE)))
-  #endif
-
-  #define __TZ_get_MSPLIM_NS()        (__arm_rsr("MSPLIM_NS"))
-  #define __TZ_set_MSPLIM_NS(VALUE)   (__arm_wsr("MSPLIM_NS", (VALUE)))
-
-  #define __NOP     __iar_builtin_no_operation
-
-  #define __CLZ     __iar_builtin_CLZ
-  #define __CLREX   __iar_builtin_CLREX
-
-  #define __DMB     __iar_builtin_DMB
-  #define __DSB     __iar_builtin_DSB
-  #define __ISB     __iar_builtin_ISB
-
-  #define __LDREXB  __iar_builtin_LDREXB
-  #define __LDREXH  __iar_builtin_LDREXH
-  #define __LDREXW  __iar_builtin_LDREX
-
-  #define __RBIT    __iar_builtin_RBIT
-  #define __REV     __iar_builtin_REV
-  #define __REV16   __iar_builtin_REV16
-
-  __IAR_FT int16_t __REVSH(int16_t val)
-  {
-    return (int16_t) __iar_builtin_REVSH(val);
-  }
-
-  #define __ROR     __iar_builtin_ROR
-  #define __RRX     __iar_builtin_RRX
-
-  #define __SEV     __iar_builtin_SEV
-
-  #if !__IAR_M0_FAMILY
-    #define __SSAT    __iar_builtin_SSAT
-  #endif
-
-  #define __STREXB  __iar_builtin_STREXB
-  #define __STREXH  __iar_builtin_STREXH
-  #define __STREXW  __iar_builtin_STREX
-
-  #if !__IAR_M0_FAMILY
-    #define __USAT    __iar_builtin_USAT
-  #endif
-
-  #define __WFE     __iar_builtin_WFE
-  #define __WFI     __iar_builtin_WFI
-
-  #if __ARM_MEDIA__
-    #define __SADD8   __iar_builtin_SADD8
-    #define __QADD8   __iar_builtin_QADD8
-    #define __SHADD8  __iar_builtin_SHADD8
-    #define __UADD8   __iar_builtin_UADD8
-    #define __UQADD8  __iar_builtin_UQADD8
-    #define __UHADD8  __iar_builtin_UHADD8
-    #define __SSUB8   __iar_builtin_SSUB8
-    #define __QSUB8   __iar_builtin_QSUB8
-    #define __SHSUB8  __iar_builtin_SHSUB8
-    #define __USUB8   __iar_builtin_USUB8
-    #define __UQSUB8  __iar_builtin_UQSUB8
-    #define __UHSUB8  __iar_builtin_UHSUB8
-    #define __SADD16  __iar_builtin_SADD16
-    #define __QADD16  __iar_builtin_QADD16
-    #define __SHADD16 __iar_builtin_SHADD16
-    #define __UADD16  __iar_builtin_UADD16
-    #define __UQADD16 __iar_builtin_UQADD16
-    #define __UHADD16 __iar_builtin_UHADD16
-    #define __SSUB16  __iar_builtin_SSUB16
-    #define __QSUB16  __iar_builtin_QSUB16
-    #define __SHSUB16 __iar_builtin_SHSUB16
-    #define __USUB16  __iar_builtin_USUB16
-    #define __UQSUB16 __iar_builtin_UQSUB16
-    #define __UHSUB16 __iar_builtin_UHSUB16
-    #define __SASX    __iar_builtin_SASX
-    #define __QASX    __iar_builtin_QASX
-    #define __SHASX   __iar_builtin_SHASX
-    #define __UASX    __iar_builtin_UASX
-    #define __UQASX   __iar_builtin_UQASX
-    #define __UHASX   __iar_builtin_UHASX
-    #define __SSAX    __iar_builtin_SSAX
-    #define __QSAX    __iar_builtin_QSAX
-    #define __SHSAX   __iar_builtin_SHSAX
-    #define __USAX    __iar_builtin_USAX
-    #define __UQSAX   __iar_builtin_UQSAX
-    #define __UHSAX   __iar_builtin_UHSAX
-    #define __USAD8   __iar_builtin_USAD8
-    #define __USADA8  __iar_builtin_USADA8
-    #define __SSAT16  __iar_builtin_SSAT16
-    #define __USAT16  __iar_builtin_USAT16
-    #define __UXTB16  __iar_builtin_UXTB16
-    #define __UXTAB16 __iar_builtin_UXTAB16
-    #define __SXTB16  __iar_builtin_SXTB16
-    #define __SXTAB16 __iar_builtin_SXTAB16
-    #define __SMUAD   __iar_builtin_SMUAD
-    #define __SMUADX  __iar_builtin_SMUADX
-    #define __SMMLA   __iar_builtin_SMMLA
-    #define __SMLAD   __iar_builtin_SMLAD
-    #define __SMLADX  __iar_builtin_SMLADX
-    #define __SMLALD  __iar_builtin_SMLALD
-    #define __SMLALDX __iar_builtin_SMLALDX
-    #define __SMUSD   __iar_builtin_SMUSD
-    #define __SMUSDX  __iar_builtin_SMUSDX
-    #define __SMLSD   __iar_builtin_SMLSD
-    #define __SMLSDX  __iar_builtin_SMLSDX
-    #define __SMLSLD  __iar_builtin_SMLSLD
-    #define __SMLSLDX __iar_builtin_SMLSLDX
-    #define __SEL     __iar_builtin_SEL
-    #define __QADD    __iar_builtin_QADD
-    #define __QSUB    __iar_builtin_QSUB
-    #define __PKHBT   __iar_builtin_PKHBT
-    #define __PKHTB   __iar_builtin_PKHTB
-  #endif
-
-#else /* __ICCARM_INTRINSICS_VERSION__ == 2 */
-
-  #if __IAR_M0_FAMILY
-   /* Avoid clash between intrinsics.h and arm_math.h when compiling for Cortex-M0. */
-    #define __CLZ  __cmsis_iar_clz_not_active
-    #define __SSAT __cmsis_iar_ssat_not_active
-    #define __USAT __cmsis_iar_usat_not_active
-    #define __RBIT __cmsis_iar_rbit_not_active
-    #define __get_APSR  __cmsis_iar_get_APSR_not_active
-  #endif
-
-
-  #if (!((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-         (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     ))
-    #define __get_FPSCR __cmsis_iar_get_FPSR_not_active
-    #define __set_FPSCR __cmsis_iar_set_FPSR_not_active
-  #endif
-
-  #ifdef __INTRINSICS_INCLUDED
-  #error intrinsics.h is already included previously!
-  #endif
-
-  #include <intrinsics.h>
-
-  #if __IAR_M0_FAMILY
-   /* Avoid clash between intrinsics.h and arm_math.h when compiling for Cortex-M0. */
-    #undef __CLZ
-    #undef __SSAT
-    #undef __USAT
-    #undef __RBIT
-    #undef __get_APSR
-
-    __STATIC_INLINE uint8_t __CLZ(uint32_t data)
-    {
-      if (data == 0U) { return 32U; }
-
-      uint32_t count = 0U;
-      uint32_t mask = 0x80000000U;
-
-      while ((data & mask) == 0U)
-      {
-        count += 1U;
-        mask = mask >> 1U;
-      }
-      return count;
-    }
-
-    __STATIC_INLINE uint32_t __RBIT(uint32_t v)
-    {
-      uint8_t sc = 31U;
-      uint32_t r = v;
-      for (v >>= 1U; v; v >>= 1U)
-      {
-        r <<= 1U;
-        r |= v & 1U;
-        sc--;
-      }
-      return (r << sc);
-    }
-
-    __STATIC_INLINE  uint32_t __get_APSR(void)
-    {
-      uint32_t res;
-      __asm("MRS      %0,APSR" : "=r" (res));
-      return res;
-    }
-
-  #endif
-
-  #if (!((defined (__FPU_PRESENT) && (__FPU_PRESENT == 1U)) && \
-         (defined (__FPU_USED   ) && (__FPU_USED    == 1U))     ))
-    #undef __get_FPSCR
-    #undef __set_FPSCR
-    #define __get_FPSCR()       (0)
-    #define __set_FPSCR(VALUE)  ((void)VALUE)
-  #endif
-
-  #pragma diag_suppress=Pe940
-  #pragma diag_suppress=Pe177
-
-  #define __enable_irq    __enable_interrupt
-  #define __disable_irq   __disable_interrupt
-  #define __NOP           __no_operation
-
-  #define __get_xPSR      __get_PSR
-
-  #if (!defined(__ARM_ARCH_6M__) || __ARM_ARCH_6M__==0)
-
-    __IAR_FT uint32_t __LDREXW(uint32_t volatile *ptr)
-    {
-      return __LDREX((unsigned long *)ptr);
-    }
-
-    __IAR_FT uint32_t __STREXW(uint32_t value, uint32_t volatile *ptr)
-    {
-      return __STREX(value, (unsigned long *)ptr);
-    }
-  #endif
-
-
-  /* __CORTEX_M is defined in core_cm0.h, core_cm3.h and core_cm4.h. */
-  #if (__CORTEX_M >= 0x03)
-
-    __IAR_FT uint32_t __RRX(uint32_t value)
-    {
-      uint32_t result;
-      __ASM("RRX      %0, %1" : "=r"(result) : "r" (value) : "cc");
-      return(result);
-    }
-
-    __IAR_FT void __set_BASEPRI_MAX(uint32_t value)
-    {
-      __asm volatile("MSR      BASEPRI_MAX,%0"::"r" (value));
-    }
-
-
-    #define __enable_fault_irq  __enable_fiq
-    #define __disable_fault_irq __disable_fiq
-
-
-  #endif /* (__CORTEX_M >= 0x03) */
-
-  __IAR_FT uint32_t __ROR(uint32_t op1, uint32_t op2)
-  {
-    return (op1 >> op2) | (op1 << ((sizeof(op1)*8)-op2));
-  }
-
-  #if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-       (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
-
-   __IAR_FT uint32_t __get_MSPLIM(void)
-    {
-      uint32_t res;
-    #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-         (!defined (__ARM_FEATURE_CMSE  ) || (__ARM_FEATURE_CMSE   < 3)))
-      // without main extensions, the non-secure MSPLIM is RAZ/WI
-      res = 0U;
-    #else
-      __asm volatile("MRS      %0,MSPLIM" : "=r" (res));
-    #endif
-      return res;
-    }
-
-    __IAR_FT void   __set_MSPLIM(uint32_t value)
-    {
-    #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-         (!defined (__ARM_FEATURE_CMSE  ) || (__ARM_FEATURE_CMSE   < 3)))
-      // without main extensions, the non-secure MSPLIM is RAZ/WI
-      (void)value;
-    #else
-      __asm volatile("MSR      MSPLIM,%0" :: "r" (value));
-    #endif
-    }
-
-    __IAR_FT uint32_t __get_PSPLIM(void)
-    {
-      uint32_t res;
-    #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-         (!defined (__ARM_FEATURE_CMSE  ) || (__ARM_FEATURE_CMSE   < 3)))
-      // without main extensions, the non-secure PSPLIM is RAZ/WI
-      res = 0U;
-    #else
-      __asm volatile("MRS      %0,PSPLIM" : "=r" (res));
-    #endif
-      return res;
-    }
-
-    __IAR_FT void   __set_PSPLIM(uint32_t value)
-    {
-    #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-         (!defined (__ARM_FEATURE_CMSE  ) || (__ARM_FEATURE_CMSE   < 3)))
-      // without main extensions, the non-secure PSPLIM is RAZ/WI
-      (void)value;
-    #else
-      __asm volatile("MSR      PSPLIM,%0" :: "r" (value));
-    #endif
-    }
-
-    __IAR_FT uint32_t __TZ_get_CONTROL_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,CONTROL_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_CONTROL_NS(uint32_t value)
-    {
-      __asm volatile("MSR      CONTROL_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_PSP_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,PSP_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_PSP_NS(uint32_t value)
-    {
-      __asm volatile("MSR      PSP_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_MSP_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,MSP_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_MSP_NS(uint32_t value)
-    {
-      __asm volatile("MSR      MSP_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_SP_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,SP_NS" : "=r" (res));
-      return res;
-    }
-    __IAR_FT void   __TZ_set_SP_NS(uint32_t value)
-    {
-      __asm volatile("MSR      SP_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_PRIMASK_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,PRIMASK_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_PRIMASK_NS(uint32_t value)
-    {
-      __asm volatile("MSR      PRIMASK_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_BASEPRI_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,BASEPRI_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_BASEPRI_NS(uint32_t value)
-    {
-      __asm volatile("MSR      BASEPRI_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_FAULTMASK_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,FAULTMASK_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_FAULTMASK_NS(uint32_t value)
-    {
-      __asm volatile("MSR      FAULTMASK_NS,%0" :: "r" (value));
-    }
-
-    __IAR_FT uint32_t   __TZ_get_PSPLIM_NS(void)
-    {
-      uint32_t res;
-    #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-         (!defined (__ARM_FEATURE_CMSE  ) || (__ARM_FEATURE_CMSE   < 3)))
-      // without main extensions, the non-secure PSPLIM is RAZ/WI
-      res = 0U;
-    #else
-      __asm volatile("MRS      %0,PSPLIM_NS" : "=r" (res));
-    #endif
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_PSPLIM_NS(uint32_t value)
-    {
-    #if (!(defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) && \
-         (!defined (__ARM_FEATURE_CMSE  ) || (__ARM_FEATURE_CMSE   < 3)))
-      // without main extensions, the non-secure PSPLIM is RAZ/WI
-      (void)value;
-    #else
-      __asm volatile("MSR      PSPLIM_NS,%0" :: "r" (value));
-    #endif
-    }
-
-    __IAR_FT uint32_t   __TZ_get_MSPLIM_NS(void)
-    {
-      uint32_t res;
-      __asm volatile("MRS      %0,MSPLIM_NS" : "=r" (res));
-      return res;
-    }
-
-    __IAR_FT void   __TZ_set_MSPLIM_NS(uint32_t value)
-    {
-      __asm volatile("MSR      MSPLIM_NS,%0" :: "r" (value));
-    }
-
-  #endif /* __ARM_ARCH_8M_MAIN__ or __ARM_ARCH_8M_BASE__ */
-
-#endif   /* __ICCARM_INTRINSICS_VERSION__ == 2 */
-
-#define __BKPT(value)    __asm volatile ("BKPT     %0" : : "i"(value))
-
-#if __IAR_M0_FAMILY
-  __STATIC_INLINE int32_t __SSAT(int32_t val, uint32_t sat)
-  {
-    if ((sat >= 1U) && (sat <= 32U))
-    {
-      const int32_t max = (int32_t)((1U << (sat - 1U)) - 1U);
-      const int32_t min = -1 - max ;
-      if (val > max)
-      {
-        return max;
-      }
-      else if (val < min)
-      {
-        return min;
-      }
-    }
-    return val;
-  }
-
-  __STATIC_INLINE uint32_t __USAT(int32_t val, uint32_t sat)
-  {
-    if (sat <= 31U)
-    {
-      const uint32_t max = ((1U << sat) - 1U);
-      if (val > (int32_t)max)
-      {
-        return max;
-      }
-      else if (val < 0)
-      {
-        return 0U;
-      }
-    }
-    return (uint32_t)val;
-  }
-#endif
-
-#if (__CORTEX_M >= 0x03)   /* __CORTEX_M is defined in core_cm0.h, core_cm3.h and core_cm4.h. */
-
-  __IAR_FT uint8_t __LDRBT(volatile uint8_t *addr)
-  {
-    uint32_t res;
-    __ASM("LDRBT %0, [%1]" : "=r" (res) : "r" (addr) : "memory");
-    return ((uint8_t)res);
-  }
-
-  __IAR_FT uint16_t __LDRHT(volatile uint16_t *addr)
-  {
-    uint32_t res;
-    __ASM("LDRHT %0, [%1]" : "=r" (res) : "r" (addr) : "memory");
-    return ((uint16_t)res);
-  }
-
-  __IAR_FT uint32_t __LDRT(volatile uint32_t *addr)
-  {
-    uint32_t res;
-    __ASM("LDRT %0, [%1]" : "=r" (res) : "r" (addr) : "memory");
-    return res;
-  }
-
-  __IAR_FT void __STRBT(uint8_t value, volatile uint8_t *addr)
-  {
-    __ASM("STRBT %1, [%0]" : : "r" (addr), "r" ((uint32_t)value) : "memory");
-  }
-
-  __IAR_FT void __STRHT(uint16_t value, volatile uint16_t *addr)
-  {
-    __ASM("STRHT %1, [%0]" : : "r" (addr), "r" ((uint32_t)value) : "memory");
-  }
-
-  __IAR_FT void __STRT(uint32_t value, volatile uint32_t *addr)
-  {
-    __ASM("STRT %1, [%0]" : : "r" (addr), "r" (value) : "memory");
-  }
-
-#endif /* (__CORTEX_M >= 0x03) */
-
-#if ((defined (__ARM_ARCH_8M_MAIN__ ) && (__ARM_ARCH_8M_MAIN__ == 1)) || \
-     (defined (__ARM_ARCH_8M_BASE__ ) && (__ARM_ARCH_8M_BASE__ == 1))    )
-
-
-  __IAR_FT uint8_t __LDAB(volatile uint8_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("LDAB %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
-    return ((uint8_t)res);
-  }
-
-  __IAR_FT uint16_t __LDAH(volatile uint16_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("LDAH %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
-    return ((uint16_t)res);
-  }
-
-  __IAR_FT uint32_t __LDA(volatile uint32_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("LDA %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
-    return res;
-  }
-
-  __IAR_FT void __STLB(uint8_t value, volatile uint8_t *ptr)
-  {
-    __ASM volatile ("STLB %1, [%0]" :: "r" (ptr), "r" (value) : "memory");
-  }
-
-  __IAR_FT void __STLH(uint16_t value, volatile uint16_t *ptr)
-  {
-    __ASM volatile ("STLH %1, [%0]" :: "r" (ptr), "r" (value) : "memory");
-  }
-
-  __IAR_FT void __STL(uint32_t value, volatile uint32_t *ptr)
-  {
-    __ASM volatile ("STL %1, [%0]" :: "r" (ptr), "r" (value) : "memory");
-  }
-
-  __IAR_FT uint8_t __LDAEXB(volatile uint8_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("LDAEXB %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
-    return ((uint8_t)res);
-  }
-
-  __IAR_FT uint16_t __LDAEXH(volatile uint16_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("LDAEXH %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
-    return ((uint16_t)res);
-  }
-
-  __IAR_FT uint32_t __LDAEX(volatile uint32_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("LDAEX %0, [%1]" : "=r" (res) : "r" (ptr) : "memory");
-    return res;
-  }
-
-  __IAR_FT uint32_t __STLEXB(uint8_t value, volatile uint8_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("STLEXB %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory");
-    return res;
-  }
-
-  __IAR_FT uint32_t __STLEXH(uint16_t value, volatile uint16_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("STLEXH %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory");
-    return res;
-  }
-
-  __IAR_FT uint32_t __STLEX(uint32_t value, volatile uint32_t *ptr)
-  {
-    uint32_t res;
-    __ASM volatile ("STLEX %0, %2, [%1]" : "=r" (res) : "r" (ptr), "r" (value) : "memory");
-    return res;
-  }
-
-#endif /* __ARM_ARCH_8M_MAIN__ or __ARM_ARCH_8M_BASE__ */
-
-#undef __IAR_FT
-#undef __IAR_M0_FAMILY
-#undef __ICCARM_V8
-
-#pragma diag_default=Pe940
-#pragma diag_default=Pe177
-
-#endif /* __CMSIS_ICCARM_H__ */

board/CubeMX_Config/Drivers/CMSIS/Core/Include/cmsis_version.h

@@ -1,39 +0,0 @@
-/**************************************************************************//**
- * @file     cmsis_version.h
- * @brief    CMSIS Core(M) Version definitions
- * @version  V5.0.3
- * @date     24. June 2019
- ******************************************************************************/
-/*
- * Copyright (c) 2009-2019 ARM Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#if   defined ( __ICCARM__ )
-  #pragma system_include         /* treat file as system include file for MISRA check */
-#elif defined (__clang__)
-  #pragma clang system_header   /* treat file as system include file */
-#endif
-
-#ifndef __CMSIS_VERSION_H
-#define __CMSIS_VERSION_H
-
-/*  CMSIS Version definitions */
-#define __CM_CMSIS_VERSION_MAIN  ( 5U)                                      /*!< [31:16] CMSIS Core(M) main version */
-#define __CM_CMSIS_VERSION_SUB   ( 3U)                                      /*!< [15:0]  CMSIS Core(M) sub version */
-#define __CM_CMSIS_VERSION       ((__CM_CMSIS_VERSION_MAIN << 16U) | \
-                                   __CM_CMSIS_VERSION_SUB           )       /*!< CMSIS Core(M) version number */
-#endif

board/CubeMX_Config/Drivers/CMSIS/Core/Include/core_cm0.h

@@ -1,952 +0,0 @@
-/**************************************************************************//**
- * @file     core_cm0.h
- * @brief    CMSIS Cortex-M0 Core Peripheral Access Layer Header File
- * @version  V5.0.6
- * @date     13. March 2019
- ******************************************************************************/
-/*
- * Copyright (c) 2009-2019 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#if   defined ( __ICCARM__ )
-  #pragma system_include         /* treat file as system include file for MISRA check */
-#elif defined (__clang__)
-  #pragma clang system_header   /* treat file as system include file */
-#endif
-
-#ifndef __CORE_CM0_H_GENERIC
-#define __CORE_CM0_H_GENERIC
-
-#include <stdint.h>
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/**
-  \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
-  CMSIS violates the following MISRA-C:2004 rules:
-
-   \li Required Rule 8.5, object/function definition in header file.<br>
-     Function definitions in header files are used to allow 'inlining'.
-
-   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
-     Unions are used for effective representation of core registers.
-
-   \li Advisory Rule 19.7, Function-like macro defined.<br>
-     Function-like macros are used to allow more efficient code.
- */
-
-
-/*******************************************************************************
- *                 CMSIS definitions
- ******************************************************************************/
-/**
-  \ingroup Cortex_M0
-  @{
- */
-
-#include "cmsis_version.h"
- 
-/*  CMSIS CM0 definitions */
-#define __CM0_CMSIS_VERSION_MAIN  (__CM_CMSIS_VERSION_MAIN)              /*!< \deprecated [31:16] CMSIS HAL main version */
-#define __CM0_CMSIS_VERSION_SUB   (__CM_CMSIS_VERSION_SUB)               /*!< \deprecated [15:0]  CMSIS HAL sub version */
-#define __CM0_CMSIS_VERSION       ((__CM0_CMSIS_VERSION_MAIN << 16U) | \
-                                    __CM0_CMSIS_VERSION_SUB           )  /*!< \deprecated CMSIS HAL version number */
-
-#define __CORTEX_M                (0U)                                   /*!< Cortex-M Core */
-
-/** __FPU_USED indicates whether an FPU is used or not.
-    This core does not support an FPU at all
-*/
-#define __FPU_USED       0U
-
-#if defined ( __CC_ARM )
-  #if defined __TARGET_FPU_VFP
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
-  #if defined __ARM_FP
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __GNUC__ )
-  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __ICCARM__ )
-  #if defined __ARMVFP__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __TI_ARM__ )
-  #if defined __TI_VFP_SUPPORT__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __TASKING__ )
-  #if defined __FPU_VFP__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __CSMC__ )
-  #if ( __CSMC__ & 0x400U)
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#endif
-
-#include "cmsis_compiler.h"               /* CMSIS compiler specific defines */
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __CORE_CM0_H_GENERIC */
-
-#ifndef __CMSIS_GENERIC
-
-#ifndef __CORE_CM0_H_DEPENDANT
-#define __CORE_CM0_H_DEPENDANT
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* check device defines and use defaults */
-#if defined __CHECK_DEVICE_DEFINES
-  #ifndef __CM0_REV
-    #define __CM0_REV               0x0000U
-    #warning "__CM0_REV not defined in device header file; using default!"
-  #endif
-
-  #ifndef __NVIC_PRIO_BITS
-    #define __NVIC_PRIO_BITS          2U
-    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
-  #endif
-
-  #ifndef __Vendor_SysTickConfig
-    #define __Vendor_SysTickConfig    0U
-    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
-  #endif
-#endif
-
-/* IO definitions (access restrictions to peripheral registers) */
-/**
-    \defgroup CMSIS_glob_defs CMSIS Global Defines
-
-    <strong>IO Type Qualifiers</strong> are used
-    \li to specify the access to peripheral variables.
-    \li for automatic generation of peripheral register debug information.
-*/
-#ifdef __cplusplus
-  #define   __I     volatile             /*!< Defines 'read only' permissions */
-#else
-  #define   __I     volatile const       /*!< Defines 'read only' permissions */
-#endif
-#define     __O     volatile             /*!< Defines 'write only' permissions */
-#define     __IO    volatile             /*!< Defines 'read / write' permissions */
-
-/* following defines should be used for structure members */
-#define     __IM     volatile const      /*! Defines 'read only' structure member permissions */
-#define     __OM     volatile            /*! Defines 'write only' structure member permissions */
-#define     __IOM    volatile            /*! Defines 'read / write' structure member permissions */
-
-/*@} end of group Cortex_M0 */
-
-
-
-/*******************************************************************************
- *                 Register Abstraction
-  Core Register contain:
-  - Core Register
-  - Core NVIC Register
-  - Core SCB Register
-  - Core SysTick Register
- ******************************************************************************/
-/**
-  \defgroup CMSIS_core_register Defines and Type Definitions
-  \brief Type definitions and defines for Cortex-M processor based devices.
-*/
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_CORE  Status and Control Registers
-  \brief      Core Register type definitions.
-  @{
- */
-
-/**
-  \brief  Union type to access the Application Program Status Register (APSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t _reserved0:28;              /*!< bit:  0..27  Reserved */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} APSR_Type;
-
-/* APSR Register Definitions */
-#define APSR_N_Pos                         31U                                            /*!< APSR: N Position */
-#define APSR_N_Msk                         (1UL << APSR_N_Pos)                            /*!< APSR: N Mask */
-
-#define APSR_Z_Pos                         30U                                            /*!< APSR: Z Position */
-#define APSR_Z_Msk                         (1UL << APSR_Z_Pos)                            /*!< APSR: Z Mask */
-
-#define APSR_C_Pos                         29U                                            /*!< APSR: C Position */
-#define APSR_C_Msk                         (1UL << APSR_C_Pos)                            /*!< APSR: C Mask */
-
-#define APSR_V_Pos                         28U                                            /*!< APSR: V Position */
-#define APSR_V_Msk                         (1UL << APSR_V_Pos)                            /*!< APSR: V Mask */
-
-
-/**
-  \brief  Union type to access the Interrupt Program Status Register (IPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number */
-    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} IPSR_Type;
-
-/* IPSR Register Definitions */
-#define IPSR_ISR_Pos                        0U                                            /*!< IPSR: ISR Position */
-#define IPSR_ISR_Msk                       (0x1FFUL /*<< IPSR_ISR_Pos*/)                  /*!< IPSR: ISR Mask */
-
-
-/**
-  \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number */
-    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved */
-    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0) */
-    uint32_t _reserved1:3;               /*!< bit: 25..27  Reserved */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} xPSR_Type;
-
-/* xPSR Register Definitions */
-#define xPSR_N_Pos                         31U                                            /*!< xPSR: N Position */
-#define xPSR_N_Msk                         (1UL << xPSR_N_Pos)                            /*!< xPSR: N Mask */
-
-#define xPSR_Z_Pos                         30U                                            /*!< xPSR: Z Position */
-#define xPSR_Z_Msk                         (1UL << xPSR_Z_Pos)                            /*!< xPSR: Z Mask */
-
-#define xPSR_C_Pos                         29U                                            /*!< xPSR: C Position */
-#define xPSR_C_Msk                         (1UL << xPSR_C_Pos)                            /*!< xPSR: C Mask */
-
-#define xPSR_V_Pos                         28U                                            /*!< xPSR: V Position */
-#define xPSR_V_Msk                         (1UL << xPSR_V_Pos)                            /*!< xPSR: V Mask */
-
-#define xPSR_T_Pos                         24U                                            /*!< xPSR: T Position */
-#define xPSR_T_Msk                         (1UL << xPSR_T_Pos)                            /*!< xPSR: T Mask */
-
-#define xPSR_ISR_Pos                        0U                                            /*!< xPSR: ISR Position */
-#define xPSR_ISR_Msk                       (0x1FFUL /*<< xPSR_ISR_Pos*/)                  /*!< xPSR: ISR Mask */
-
-
-/**
-  \brief  Union type to access the Control Registers (CONTROL).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t _reserved0:1;               /*!< bit:      0  Reserved */
-    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used */
-    uint32_t _reserved1:30;              /*!< bit:  2..31  Reserved */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} CONTROL_Type;
-
-/* CONTROL Register Definitions */
-#define CONTROL_SPSEL_Pos                   1U                                            /*!< CONTROL: SPSEL Position */
-#define CONTROL_SPSEL_Msk                  (1UL << CONTROL_SPSEL_Pos)                     /*!< CONTROL: SPSEL Mask */
-
-/*@} end of group CMSIS_CORE */
-
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
-  \brief      Type definitions for the NVIC Registers
-  @{
- */
-
-/**
-  \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
- */
-typedef struct
-{
-  __IOM uint32_t ISER[1U];               /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register */
-        uint32_t RESERVED0[31U];
-  __IOM uint32_t ICER[1U];               /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register */
-        uint32_t RESERVED1[31U];
-  __IOM uint32_t ISPR[1U];               /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register */
-        uint32_t RESERVED2[31U];
-  __IOM uint32_t ICPR[1U];               /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register */
-        uint32_t RESERVED3[31U];
-        uint32_t RESERVED4[64U];
-  __IOM uint32_t IP[8U];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register */
-}  NVIC_Type;
-
-/*@} end of group CMSIS_NVIC */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_SCB     System Control Block (SCB)
-  \brief    Type definitions for the System Control Block Registers
-  @{
- */
-
-/**
-  \brief  Structure type to access the System Control Block (SCB).
- */
-typedef struct
-{
-  __IM  uint32_t CPUID;                  /*!< Offset: 0x000 (R/ )  CPUID Base Register */
-  __IOM uint32_t ICSR;                   /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register */
-        uint32_t RESERVED0;
-  __IOM uint32_t AIRCR;                  /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register */
-  __IOM uint32_t SCR;                    /*!< Offset: 0x010 (R/W)  System Control Register */
-  __IOM uint32_t CCR;                    /*!< Offset: 0x014 (R/W)  Configuration Control Register */
-        uint32_t RESERVED1;
-  __IOM uint32_t SHP[2U];                /*!< Offset: 0x01C (R/W)  System Handlers Priority Registers. [0] is RESERVED */
-  __IOM uint32_t SHCSR;                  /*!< Offset: 0x024 (R/W)  System Handler Control and State Register */
-} SCB_Type;
-
-/* SCB CPUID Register Definitions */
-#define SCB_CPUID_IMPLEMENTER_Pos          24U                                            /*!< SCB CPUID: IMPLEMENTER Position */
-#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
-
-#define SCB_CPUID_VARIANT_Pos              20U                                            /*!< SCB CPUID: VARIANT Position */
-#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
-
-#define SCB_CPUID_ARCHITECTURE_Pos         16U                                            /*!< SCB CPUID: ARCHITECTURE Position */
-#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
-
-#define SCB_CPUID_PARTNO_Pos                4U                                            /*!< SCB CPUID: PARTNO Position */
-#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
-
-#define SCB_CPUID_REVISION_Pos              0U                                            /*!< SCB CPUID: REVISION Position */
-#define SCB_CPUID_REVISION_Msk             (0xFUL /*<< SCB_CPUID_REVISION_Pos*/)          /*!< SCB CPUID: REVISION Mask */
-
-/* SCB Interrupt Control State Register Definitions */
-#define SCB_ICSR_NMIPENDSET_Pos            31U                                            /*!< SCB ICSR: NMIPENDSET Position */
-#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
-
-#define SCB_ICSR_PENDSVSET_Pos             28U                                            /*!< SCB ICSR: PENDSVSET Position */
-#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
-
-#define SCB_ICSR_PENDSVCLR_Pos             27U                                            /*!< SCB ICSR: PENDSVCLR Position */
-#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
-
-#define SCB_ICSR_PENDSTSET_Pos             26U                                            /*!< SCB ICSR: PENDSTSET Position */
-#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
-
-#define SCB_ICSR_PENDSTCLR_Pos             25U                                            /*!< SCB ICSR: PENDSTCLR Position */
-#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
-
-#define SCB_ICSR_ISRPREEMPT_Pos            23U                                            /*!< SCB ICSR: ISRPREEMPT Position */
-#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
-
-#define SCB_ICSR_ISRPENDING_Pos            22U                                            /*!< SCB ICSR: ISRPENDING Position */
-#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
-
-#define SCB_ICSR_VECTPENDING_Pos           12U                                            /*!< SCB ICSR: VECTPENDING Position */
-#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
-
-#define SCB_ICSR_VECTACTIVE_Pos             0U                                            /*!< SCB ICSR: VECTACTIVE Position */
-#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/)       /*!< SCB ICSR: VECTACTIVE Mask */
-
-/* SCB Application Interrupt and Reset Control Register Definitions */
-#define SCB_AIRCR_VECTKEY_Pos              16U                                            /*!< SCB AIRCR: VECTKEY Position */
-#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
-
-#define SCB_AIRCR_VECTKEYSTAT_Pos          16U                                            /*!< SCB AIRCR: VECTKEYSTAT Position */
-#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
-
-#define SCB_AIRCR_ENDIANESS_Pos            15U                                            /*!< SCB AIRCR: ENDIANESS Position */
-#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
-
-#define SCB_AIRCR_SYSRESETREQ_Pos           2U                                            /*!< SCB AIRCR: SYSRESETREQ Position */
-#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
-
-#define SCB_AIRCR_VECTCLRACTIVE_Pos         1U                                            /*!< SCB AIRCR: VECTCLRACTIVE Position */
-#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
-
-/* SCB System Control Register Definitions */
-#define SCB_SCR_SEVONPEND_Pos               4U                                            /*!< SCB SCR: SEVONPEND Position */
-#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
-
-#define SCB_SCR_SLEEPDEEP_Pos               2U                                            /*!< SCB SCR: SLEEPDEEP Position */
-#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
-
-#define SCB_SCR_SLEEPONEXIT_Pos             1U                                            /*!< SCB SCR: SLEEPONEXIT Position */
-#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
-
-/* SCB Configuration Control Register Definitions */
-#define SCB_CCR_STKALIGN_Pos                9U                                            /*!< SCB CCR: STKALIGN Position */
-#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
-
-#define SCB_CCR_UNALIGN_TRP_Pos             3U                                            /*!< SCB CCR: UNALIGN_TRP Position */
-#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
-
-/* SCB System Handler Control and State Register Definitions */
-#define SCB_SHCSR_SVCALLPENDED_Pos         15U                                            /*!< SCB SHCSR: SVCALLPENDED Position */
-#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
-
-/*@} end of group CMSIS_SCB */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
-  \brief    Type definitions for the System Timer Registers.
-  @{
- */
-
-/**
-  \brief  Structure type to access the System Timer (SysTick).
- */
-typedef struct
-{
-  __IOM uint32_t CTRL;                   /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
-  __IOM uint32_t LOAD;                   /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register */
-  __IOM uint32_t VAL;                    /*!< Offset: 0x008 (R/W)  SysTick Current Value Register */
-  __IM  uint32_t CALIB;                  /*!< Offset: 0x00C (R/ )  SysTick Calibration Register */
-} SysTick_Type;
-
-/* SysTick Control / Status Register Definitions */
-#define SysTick_CTRL_COUNTFLAG_Pos         16U                                            /*!< SysTick CTRL: COUNTFLAG Position */
-#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
-
-#define SysTick_CTRL_CLKSOURCE_Pos          2U                                            /*!< SysTick CTRL: CLKSOURCE Position */
-#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
-
-#define SysTick_CTRL_TICKINT_Pos            1U                                            /*!< SysTick CTRL: TICKINT Position */
-#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
-
-#define SysTick_CTRL_ENABLE_Pos             0U                                            /*!< SysTick CTRL: ENABLE Position */
-#define SysTick_CTRL_ENABLE_Msk            (1UL /*<< SysTick_CTRL_ENABLE_Pos*/)           /*!< SysTick CTRL: ENABLE Mask */
-
-/* SysTick Reload Register Definitions */
-#define SysTick_LOAD_RELOAD_Pos             0U                                            /*!< SysTick LOAD: RELOAD Position */
-#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/)    /*!< SysTick LOAD: RELOAD Mask */
-
-/* SysTick Current Register Definitions */
-#define SysTick_VAL_CURRENT_Pos             0U                                            /*!< SysTick VAL: CURRENT Position */
-#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/)    /*!< SysTick VAL: CURRENT Mask */
-
-/* SysTick Calibration Register Definitions */
-#define SysTick_CALIB_NOREF_Pos            31U                                            /*!< SysTick CALIB: NOREF Position */
-#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
-
-#define SysTick_CALIB_SKEW_Pos             30U                                            /*!< SysTick CALIB: SKEW Position */
-#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
-
-#define SysTick_CALIB_TENMS_Pos             0U                                            /*!< SysTick CALIB: TENMS Position */
-#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/)    /*!< SysTick CALIB: TENMS Mask */
-
-/*@} end of group CMSIS_SysTick */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
-  \brief    Cortex-M0 Core Debug Registers (DCB registers, SHCSR, and DFSR) are only accessible over DAP and not via processor.
-            Therefore they are not covered by the Cortex-M0 header file.
-  @{
- */
-/*@} end of group CMSIS_CoreDebug */
-
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_core_bitfield     Core register bit field macros
-  \brief      Macros for use with bit field definitions (xxx_Pos, xxx_Msk).
-  @{
- */
-
-/**
-  \brief   Mask and shift a bit field value for use in a register bit range.
-  \param[in] field  Name of the register bit field.
-  \param[in] value  Value of the bit field. This parameter is interpreted as an uint32_t type.
-  \return           Masked and shifted value.
-*/
-#define _VAL2FLD(field, value)    (((uint32_t)(value) << field ## _Pos) & field ## _Msk)
-
-/**
-  \brief     Mask and shift a register value to extract a bit filed value.
-  \param[in] field  Name of the register bit field.
-  \param[in] value  Value of register. This parameter is interpreted as an uint32_t type.
-  \return           Masked and shifted bit field value.
-*/
-#define _FLD2VAL(field, value)    (((uint32_t)(value) & field ## _Msk) >> field ## _Pos)
-
-/*@} end of group CMSIS_core_bitfield */
-
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_core_base     Core Definitions
-  \brief      Definitions for base addresses, unions, and structures.
-  @{
- */
-
-/* Memory mapping of Core Hardware */
-#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address */
-#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address */
-#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address */
-#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address */
-
-#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct */
-#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct */
-#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct */
-
-
-/*@} */
-
-
-
-/*******************************************************************************
- *                Hardware Abstraction Layer
-  Core Function Interface contains:
-  - Core NVIC Functions
-  - Core SysTick Functions
-  - Core Register Access Functions
- ******************************************************************************/
-/**
-  \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
-*/
-
-
-
-/* ##########################   NVIC functions  #################################### */
-/**
-  \ingroup  CMSIS_Core_FunctionInterface
-  \defgroup CMSIS_Core_NVICFunctions NVIC Functions
-  \brief    Functions that manage interrupts and exceptions via the NVIC.
-  @{
- */
-
-#ifdef CMSIS_NVIC_VIRTUAL
-  #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE
-    #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h"
-  #endif
-  #include CMSIS_NVIC_VIRTUAL_HEADER_FILE
-#else
-  #define NVIC_SetPriorityGrouping    __NVIC_SetPriorityGrouping
-  #define NVIC_GetPriorityGrouping    __NVIC_GetPriorityGrouping
-  #define NVIC_EnableIRQ              __NVIC_EnableIRQ
-  #define NVIC_GetEnableIRQ           __NVIC_GetEnableIRQ
-  #define NVIC_DisableIRQ             __NVIC_DisableIRQ
-  #define NVIC_GetPendingIRQ          __NVIC_GetPendingIRQ
-  #define NVIC_SetPendingIRQ          __NVIC_SetPendingIRQ
-  #define NVIC_ClearPendingIRQ        __NVIC_ClearPendingIRQ
-/*#define NVIC_GetActive              __NVIC_GetActive             not available for Cortex-M0 */
-  #define NVIC_SetPriority            __NVIC_SetPriority
-  #define NVIC_GetPriority            __NVIC_GetPriority
-  #define NVIC_SystemReset            __NVIC_SystemReset
-#endif /* CMSIS_NVIC_VIRTUAL */
-
-#ifdef CMSIS_VECTAB_VIRTUAL
-  #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE
-    #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h"
-  #endif
-  #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE
-#else
-  #define NVIC_SetVector              __NVIC_SetVector
-  #define NVIC_GetVector              __NVIC_GetVector
-#endif  /* (CMSIS_VECTAB_VIRTUAL) */
-
-#define NVIC_USER_IRQ_OFFSET          16
-
-
-/* The following EXC_RETURN values are saved the LR on exception entry */
-#define EXC_RETURN_HANDLER         (0xFFFFFFF1UL)     /* return to Handler mode, uses MSP after return                               */
-#define EXC_RETURN_THREAD_MSP      (0xFFFFFFF9UL)     /* return to Thread mode, uses MSP after return                                */
-#define EXC_RETURN_THREAD_PSP      (0xFFFFFFFDUL)     /* return to Thread mode, uses PSP after return                                */
-
-
-/* Interrupt Priorities are WORD accessible only under Armv6-M                  */
-/* The following MACROS handle generation of the register offset and byte masks */
-#define _BIT_SHIFT(IRQn)         (  ((((uint32_t)(int32_t)(IRQn))         )      &  0x03UL) * 8UL)
-#define _SHP_IDX(IRQn)           ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >>    2UL)      )
-#define _IP_IDX(IRQn)            (   (((uint32_t)(int32_t)(IRQn))                >>    2UL)      )
-
-#define __NVIC_SetPriorityGrouping(X) (void)(X)
-#define __NVIC_GetPriorityGrouping()  (0U)
-
-/**
-  \brief   Enable Interrupt
-  \details Enables a device specific interrupt in the NVIC interrupt controller.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    __COMPILER_BARRIER();
-    NVIC->ISER[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-    __COMPILER_BARRIER();
-  }
-}
-
-
-/**
-  \brief   Get Interrupt Enable status
-  \details Returns a device specific interrupt enable status from the NVIC interrupt controller.
-  \param [in]      IRQn  Device specific interrupt number.
-  \return             0  Interrupt is not enabled.
-  \return             1  Interrupt is enabled.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    return((uint32_t)(((NVIC->ISER[0U] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
-  }
-  else
-  {
-    return(0U);
-  }
-}
-
-
-/**
-  \brief   Disable Interrupt
-  \details Disables a device specific interrupt in the NVIC interrupt controller.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->ICER[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-    __DSB();
-    __ISB();
-  }
-}
-
-
-/**
-  \brief   Get Pending Interrupt
-  \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt.
-  \param [in]      IRQn  Device specific interrupt number.
-  \return             0  Interrupt status is not pending.
-  \return             1  Interrupt status is pending.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    return((uint32_t)(((NVIC->ISPR[0U] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
-  }
-  else
-  {
-    return(0U);
-  }
-}
-
-
-/**
-  \brief   Set Pending Interrupt
-  \details Sets the pending bit of a device specific interrupt in the NVIC pending register.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->ISPR[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-  }
-}
-
-
-/**
-  \brief   Clear Pending Interrupt
-  \details Clears the pending bit of a device specific interrupt in the NVIC pending register.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->ICPR[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-  }
-}
-
-
-/**
-  \brief   Set Interrupt Priority
-  \details Sets the priority of a device specific interrupt or a processor exception.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-  \param [in]      IRQn  Interrupt number.
-  \param [in]  priority  Priority to set.
-  \note    The priority cannot be set for every processor exception.
- */
-__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->IP[_IP_IDX(IRQn)]  = ((uint32_t)(NVIC->IP[_IP_IDX(IRQn)]  & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
-       (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
-  }
-  else
-  {
-    SCB->SHP[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
-       (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
-  }
-}
-
-
-/**
-  \brief   Get Interrupt Priority
-  \details Reads the priority of a device specific interrupt or a processor exception.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-  \param [in]   IRQn  Interrupt number.
-  \return             Interrupt Priority.
-                      Value is aligned automatically to the implemented priority bits of the microcontroller.
- */
-__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn)
-{
-
-  if ((int32_t)(IRQn) >= 0)
-  {
-    return((uint32_t)(((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
-  }
-  else
-  {
-    return((uint32_t)(((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
-  }
-}
-
-
-/**
-  \brief   Encode Priority
-  \details Encodes the priority for an interrupt with the given priority group,
-           preemptive priority value, and subpriority value.
-           In case of a conflict between priority grouping and available
-           priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
-  \param [in]     PriorityGroup  Used priority group.
-  \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
-  \param [in]       SubPriority  Subpriority value (starting from 0).
-  \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
- */
-__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);   /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp);
-  SubPriorityBits     = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS));
-
-  return (
-           ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) |
-           ((SubPriority     & (uint32_t)((1UL << (SubPriorityBits    )) - 1UL)))
-         );
-}
-
-
-/**
-  \brief   Decode Priority
-  \details Decodes an interrupt priority value with a given priority group to
-           preemptive priority value and subpriority value.
-           In case of a conflict between priority grouping and available
-           priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set.
-  \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
-  \param [in]     PriorityGroup  Used priority group.
-  \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
-  \param [out]     pSubPriority  Subpriority value (starting from 0).
- */
-__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);   /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp);
-  SubPriorityBits     = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS));
-
-  *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL);
-  *pSubPriority     = (Priority                   ) & (uint32_t)((1UL << (SubPriorityBits    )) - 1UL);
-}
-
-
-
-/**
-  \brief   Set Interrupt Vector
-  \details Sets an interrupt vector in SRAM based interrupt vector table.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-           Address 0 must be mapped to SRAM.
-  \param [in]   IRQn      Interrupt number
-  \param [in]   vector    Address of interrupt handler function
- */
-__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector)
-{
-  uint32_t vectors = 0x0U;
-  (* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4)) = vector;
-  /* ARM Application Note 321 states that the M0 does not require the architectural barrier */
-}
-
-
-/**
-  \brief   Get Interrupt Vector
-  \details Reads an interrupt vector from interrupt vector table.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-  \param [in]   IRQn      Interrupt number.
-  \return                 Address of interrupt handler function
- */
-__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn)
-{
-  uint32_t vectors = 0x0U;
-  return (uint32_t)(* (int *) (vectors + ((int32_t)IRQn + NVIC_USER_IRQ_OFFSET) * 4));
-}
-
-
-/**
-  \brief   System Reset
-  \details Initiates a system reset request to reset the MCU.
- */
-__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void)
-{
-  __DSB();                                                          /* Ensure all outstanding memory accesses included
-                                                                       buffered write are completed before reset */
-  SCB->AIRCR  = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) |
-                 SCB_AIRCR_SYSRESETREQ_Msk);
-  __DSB();                                                          /* Ensure completion of memory access */
-
-  for(;;)                                                           /* wait until reset */
-  {
-    __NOP();
-  }
-}
-
-/*@} end of CMSIS_Core_NVICFunctions */
-
-
-/* ##########################  FPU functions  #################################### */
-/**
-  \ingroup  CMSIS_Core_FunctionInterface
-  \defgroup CMSIS_Core_FpuFunctions FPU Functions
-  \brief    Function that provides FPU type.
-  @{
- */
-
-/**
-  \brief   get FPU type
-  \details returns the FPU type
-  \returns
-   - \b  0: No FPU
-   - \b  1: Single precision FPU
-   - \b  2: Double + Single precision FPU
- */
-__STATIC_INLINE uint32_t SCB_GetFPUType(void)
-{
-    return 0U;           /* No FPU */
-}
-
-
-/*@} end of CMSIS_Core_FpuFunctions */
-
-
-
-/* ##################################    SysTick function  ############################################ */
-/**
-  \ingroup  CMSIS_Core_FunctionInterface
-  \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
-  \brief    Functions that configure the System.
-  @{
- */
-
-#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U)
-
-/**
-  \brief   System Tick Configuration
-  \details Initializes the System Timer and its interrupt, and starts the System Tick Timer.
-           Counter is in free running mode to generate periodic interrupts.
-  \param [in]  ticks  Number of ticks between two interrupts.
-  \return          0  Function succeeded.
-  \return          1  Function failed.
-  \note    When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
-           function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
-           must contain a vendor-specific implementation of this function.
- */
-__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
-{
-  if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk)
-  {
-    return (1UL);                                                   /* Reload value impossible */
-  }
-
-  SysTick->LOAD  = (uint32_t)(ticks - 1UL);                         /* set reload register */
-  NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
-  SysTick->VAL   = 0UL;                                             /* Load the SysTick Counter Value */
-  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
-                   SysTick_CTRL_TICKINT_Msk   |
-                   SysTick_CTRL_ENABLE_Msk;                         /* Enable SysTick IRQ and SysTick Timer */
-  return (0UL);                                                     /* Function successful */
-}
-
-#endif
-
-/*@} end of CMSIS_Core_SysTickFunctions */
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __CORE_CM0_H_DEPENDANT */
-
-#endif /* __CMSIS_GENERIC */

board/CubeMX_Config/Drivers/CMSIS/Core/Include/core_cm1.h

@@ -1,979 +0,0 @@
-/**************************************************************************//**
- * @file     core_cm1.h
- * @brief    CMSIS Cortex-M1 Core Peripheral Access Layer Header File
- * @version  V1.0.1
- * @date     12. November 2018
- ******************************************************************************/
-/*
- * Copyright (c) 2009-2018 Arm Limited. All rights reserved.
- *
- * SPDX-License-Identifier: Apache-2.0
- *
- * Licensed under the Apache License, Version 2.0 (the License); you may
- * not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an AS IS BASIS, WITHOUT
- * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#if   defined ( __ICCARM__ )
-  #pragma system_include         /* treat file as system include file for MISRA check */
-#elif defined (__clang__)
-  #pragma clang system_header   /* treat file as system include file */
-#endif
-
-#ifndef __CORE_CM1_H_GENERIC
-#define __CORE_CM1_H_GENERIC
-
-#include <stdint.h>
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/**
-  \page CMSIS_MISRA_Exceptions  MISRA-C:2004 Compliance Exceptions
-  CMSIS violates the following MISRA-C:2004 rules:
-
-   \li Required Rule 8.5, object/function definition in header file.<br>
-     Function definitions in header files are used to allow 'inlining'.
-
-   \li Required Rule 18.4, declaration of union type or object of union type: '{...}'.<br>
-     Unions are used for effective representation of core registers.
-
-   \li Advisory Rule 19.7, Function-like macro defined.<br>
-     Function-like macros are used to allow more efficient code.
- */
-
-
-/*******************************************************************************
- *                 CMSIS definitions
- ******************************************************************************/
-/**
-  \ingroup Cortex_M1
-  @{
- */
-
-#include "cmsis_version.h"
- 
-/*  CMSIS CM1 definitions */
-#define __CM1_CMSIS_VERSION_MAIN  (__CM_CMSIS_VERSION_MAIN)              /*!< \deprecated [31:16] CMSIS HAL main version */
-#define __CM1_CMSIS_VERSION_SUB   (__CM_CMSIS_VERSION_SUB)               /*!< \deprecated [15:0]  CMSIS HAL sub version */
-#define __CM1_CMSIS_VERSION       ((__CM1_CMSIS_VERSION_MAIN << 16U) | \
-                                    __CM1_CMSIS_VERSION_SUB           )  /*!< \deprecated CMSIS HAL version number */
-
-#define __CORTEX_M                (1U)                                   /*!< Cortex-M Core */
-
-/** __FPU_USED indicates whether an FPU is used or not.
-    This core does not support an FPU at all
-*/
-#define __FPU_USED       0U
-
-#if defined ( __CC_ARM )
-  #if defined __TARGET_FPU_VFP
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined (__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
-  #if defined __ARM_FP
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __GNUC__ )
-  #if defined (__VFP_FP__) && !defined(__SOFTFP__)
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __ICCARM__ )
-  #if defined __ARMVFP__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __TI_ARM__ )
-  #if defined __TI_VFP_SUPPORT__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __TASKING__ )
-  #if defined __FPU_VFP__
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#elif defined ( __CSMC__ )
-  #if ( __CSMC__ & 0x400U)
-    #error "Compiler generates FPU instructions for a device without an FPU (check __FPU_PRESENT)"
-  #endif
-
-#endif
-
-#include "cmsis_compiler.h"               /* CMSIS compiler specific defines */
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __CORE_CM1_H_GENERIC */
-
-#ifndef __CMSIS_GENERIC
-
-#ifndef __CORE_CM1_H_DEPENDANT
-#define __CORE_CM1_H_DEPENDANT
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* check device defines and use defaults */
-#if defined __CHECK_DEVICE_DEFINES
-  #ifndef __CM1_REV
-    #define __CM1_REV               0x0100U
-    #warning "__CM1_REV not defined in device header file; using default!"
-  #endif
-
-  #ifndef __NVIC_PRIO_BITS
-    #define __NVIC_PRIO_BITS          2U
-    #warning "__NVIC_PRIO_BITS not defined in device header file; using default!"
-  #endif
-
-  #ifndef __Vendor_SysTickConfig
-    #define __Vendor_SysTickConfig    0U
-    #warning "__Vendor_SysTickConfig not defined in device header file; using default!"
-  #endif
-#endif
-
-/* IO definitions (access restrictions to peripheral registers) */
-/**
-    \defgroup CMSIS_glob_defs CMSIS Global Defines
-
-    <strong>IO Type Qualifiers</strong> are used
-    \li to specify the access to peripheral variables.
-    \li for automatic generation of peripheral register debug information.
-*/
-#ifdef __cplusplus
-  #define   __I     volatile             /*!< Defines 'read only' permissions */
-#else
-  #define   __I     volatile const       /*!< Defines 'read only' permissions */
-#endif
-#define     __O     volatile             /*!< Defines 'write only' permissions */
-#define     __IO    volatile             /*!< Defines 'read / write' permissions */
-
-/* following defines should be used for structure members */
-#define     __IM     volatile const      /*! Defines 'read only' structure member permissions */
-#define     __OM     volatile            /*! Defines 'write only' structure member permissions */
-#define     __IOM    volatile            /*! Defines 'read / write' structure member permissions */
-
-/*@} end of group Cortex_M1 */
-
-
-
-/*******************************************************************************
- *                 Register Abstraction
-  Core Register contain:
-  - Core Register
-  - Core NVIC Register
-  - Core SCB Register
-  - Core SysTick Register
- ******************************************************************************/
-/**
-  \defgroup CMSIS_core_register Defines and Type Definitions
-  \brief Type definitions and defines for Cortex-M processor based devices.
-*/
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_CORE  Status and Control Registers
-  \brief      Core Register type definitions.
-  @{
- */
-
-/**
-  \brief  Union type to access the Application Program Status Register (APSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t _reserved0:28;              /*!< bit:  0..27  Reserved */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} APSR_Type;
-
-/* APSR Register Definitions */
-#define APSR_N_Pos                         31U                                            /*!< APSR: N Position */
-#define APSR_N_Msk                         (1UL << APSR_N_Pos)                            /*!< APSR: N Mask */
-
-#define APSR_Z_Pos                         30U                                            /*!< APSR: Z Position */
-#define APSR_Z_Msk                         (1UL << APSR_Z_Pos)                            /*!< APSR: Z Mask */
-
-#define APSR_C_Pos                         29U                                            /*!< APSR: C Position */
-#define APSR_C_Msk                         (1UL << APSR_C_Pos)                            /*!< APSR: C Mask */
-
-#define APSR_V_Pos                         28U                                            /*!< APSR: V Position */
-#define APSR_V_Msk                         (1UL << APSR_V_Pos)                            /*!< APSR: V Mask */
-
-
-/**
-  \brief  Union type to access the Interrupt Program Status Register (IPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number */
-    uint32_t _reserved0:23;              /*!< bit:  9..31  Reserved */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} IPSR_Type;
-
-/* IPSR Register Definitions */
-#define IPSR_ISR_Pos                        0U                                            /*!< IPSR: ISR Position */
-#define IPSR_ISR_Msk                       (0x1FFUL /*<< IPSR_ISR_Pos*/)                  /*!< IPSR: ISR Mask */
-
-
-/**
-  \brief  Union type to access the Special-Purpose Program Status Registers (xPSR).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t ISR:9;                      /*!< bit:  0.. 8  Exception number */
-    uint32_t _reserved0:15;              /*!< bit:  9..23  Reserved */
-    uint32_t T:1;                        /*!< bit:     24  Thumb bit        (read 0) */
-    uint32_t _reserved1:3;               /*!< bit: 25..27  Reserved */
-    uint32_t V:1;                        /*!< bit:     28  Overflow condition code flag */
-    uint32_t C:1;                        /*!< bit:     29  Carry condition code flag */
-    uint32_t Z:1;                        /*!< bit:     30  Zero condition code flag */
-    uint32_t N:1;                        /*!< bit:     31  Negative condition code flag */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} xPSR_Type;
-
-/* xPSR Register Definitions */
-#define xPSR_N_Pos                         31U                                            /*!< xPSR: N Position */
-#define xPSR_N_Msk                         (1UL << xPSR_N_Pos)                            /*!< xPSR: N Mask */
-
-#define xPSR_Z_Pos                         30U                                            /*!< xPSR: Z Position */
-#define xPSR_Z_Msk                         (1UL << xPSR_Z_Pos)                            /*!< xPSR: Z Mask */
-
-#define xPSR_C_Pos                         29U                                            /*!< xPSR: C Position */
-#define xPSR_C_Msk                         (1UL << xPSR_C_Pos)                            /*!< xPSR: C Mask */
-
-#define xPSR_V_Pos                         28U                                            /*!< xPSR: V Position */
-#define xPSR_V_Msk                         (1UL << xPSR_V_Pos)                            /*!< xPSR: V Mask */
-
-#define xPSR_T_Pos                         24U                                            /*!< xPSR: T Position */
-#define xPSR_T_Msk                         (1UL << xPSR_T_Pos)                            /*!< xPSR: T Mask */
-
-#define xPSR_ISR_Pos                        0U                                            /*!< xPSR: ISR Position */
-#define xPSR_ISR_Msk                       (0x1FFUL /*<< xPSR_ISR_Pos*/)                  /*!< xPSR: ISR Mask */
-
-
-/**
-  \brief  Union type to access the Control Registers (CONTROL).
- */
-typedef union
-{
-  struct
-  {
-    uint32_t _reserved0:1;               /*!< bit:      0  Reserved */
-    uint32_t SPSEL:1;                    /*!< bit:      1  Stack to be used */
-    uint32_t _reserved1:30;              /*!< bit:  2..31  Reserved */
-  } b;                                   /*!< Structure used for bit  access */
-  uint32_t w;                            /*!< Type      used for word access */
-} CONTROL_Type;
-
-/* CONTROL Register Definitions */
-#define CONTROL_SPSEL_Pos                   1U                                            /*!< CONTROL: SPSEL Position */
-#define CONTROL_SPSEL_Msk                  (1UL << CONTROL_SPSEL_Pos)                     /*!< CONTROL: SPSEL Mask */
-
-/*@} end of group CMSIS_CORE */
-
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_NVIC  Nested Vectored Interrupt Controller (NVIC)
-  \brief      Type definitions for the NVIC Registers
-  @{
- */
-
-/**
-  \brief  Structure type to access the Nested Vectored Interrupt Controller (NVIC).
- */
-typedef struct
-{
-  __IOM uint32_t ISER[1U];               /*!< Offset: 0x000 (R/W)  Interrupt Set Enable Register */
-        uint32_t RESERVED0[31U];
-  __IOM uint32_t ICER[1U];               /*!< Offset: 0x080 (R/W)  Interrupt Clear Enable Register */
-        uint32_t RSERVED1[31U];
-  __IOM uint32_t ISPR[1U];               /*!< Offset: 0x100 (R/W)  Interrupt Set Pending Register */
-        uint32_t RESERVED2[31U];
-  __IOM uint32_t ICPR[1U];               /*!< Offset: 0x180 (R/W)  Interrupt Clear Pending Register */
-        uint32_t RESERVED3[31U];
-        uint32_t RESERVED4[64U];
-  __IOM uint32_t IP[8U];                 /*!< Offset: 0x300 (R/W)  Interrupt Priority Register */
-}  NVIC_Type;
-
-/*@} end of group CMSIS_NVIC */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_SCB     System Control Block (SCB)
-  \brief    Type definitions for the System Control Block Registers
-  @{
- */
-
-/**
-  \brief  Structure type to access the System Control Block (SCB).
- */
-typedef struct
-{
-  __IM  uint32_t CPUID;                  /*!< Offset: 0x000 (R/ )  CPUID Base Register */
-  __IOM uint32_t ICSR;                   /*!< Offset: 0x004 (R/W)  Interrupt Control and State Register */
-        uint32_t RESERVED0;
-  __IOM uint32_t AIRCR;                  /*!< Offset: 0x00C (R/W)  Application Interrupt and Reset Control Register */
-  __IOM uint32_t SCR;                    /*!< Offset: 0x010 (R/W)  System Control Register */
-  __IOM uint32_t CCR;                    /*!< Offset: 0x014 (R/W)  Configuration Control Register */
-        uint32_t RESERVED1;
-  __IOM uint32_t SHP[2U];                /*!< Offset: 0x01C (R/W)  System Handlers Priority Registers. [0] is RESERVED */
-  __IOM uint32_t SHCSR;                  /*!< Offset: 0x024 (R/W)  System Handler Control and State Register */
-} SCB_Type;
-
-/* SCB CPUID Register Definitions */
-#define SCB_CPUID_IMPLEMENTER_Pos          24U                                            /*!< SCB CPUID: IMPLEMENTER Position */
-#define SCB_CPUID_IMPLEMENTER_Msk          (0xFFUL << SCB_CPUID_IMPLEMENTER_Pos)          /*!< SCB CPUID: IMPLEMENTER Mask */
-
-#define SCB_CPUID_VARIANT_Pos              20U                                            /*!< SCB CPUID: VARIANT Position */
-#define SCB_CPUID_VARIANT_Msk              (0xFUL << SCB_CPUID_VARIANT_Pos)               /*!< SCB CPUID: VARIANT Mask */
-
-#define SCB_CPUID_ARCHITECTURE_Pos         16U                                            /*!< SCB CPUID: ARCHITECTURE Position */
-#define SCB_CPUID_ARCHITECTURE_Msk         (0xFUL << SCB_CPUID_ARCHITECTURE_Pos)          /*!< SCB CPUID: ARCHITECTURE Mask */
-
-#define SCB_CPUID_PARTNO_Pos                4U                                            /*!< SCB CPUID: PARTNO Position */
-#define SCB_CPUID_PARTNO_Msk               (0xFFFUL << SCB_CPUID_PARTNO_Pos)              /*!< SCB CPUID: PARTNO Mask */
-
-#define SCB_CPUID_REVISION_Pos              0U                                            /*!< SCB CPUID: REVISION Position */
-#define SCB_CPUID_REVISION_Msk             (0xFUL /*<< SCB_CPUID_REVISION_Pos*/)          /*!< SCB CPUID: REVISION Mask */
-
-/* SCB Interrupt Control State Register Definitions */
-#define SCB_ICSR_NMIPENDSET_Pos            31U                                            /*!< SCB ICSR: NMIPENDSET Position */
-#define SCB_ICSR_NMIPENDSET_Msk            (1UL << SCB_ICSR_NMIPENDSET_Pos)               /*!< SCB ICSR: NMIPENDSET Mask */
-
-#define SCB_ICSR_PENDSVSET_Pos             28U                                            /*!< SCB ICSR: PENDSVSET Position */
-#define SCB_ICSR_PENDSVSET_Msk             (1UL << SCB_ICSR_PENDSVSET_Pos)                /*!< SCB ICSR: PENDSVSET Mask */
-
-#define SCB_ICSR_PENDSVCLR_Pos             27U                                            /*!< SCB ICSR: PENDSVCLR Position */
-#define SCB_ICSR_PENDSVCLR_Msk             (1UL << SCB_ICSR_PENDSVCLR_Pos)                /*!< SCB ICSR: PENDSVCLR Mask */
-
-#define SCB_ICSR_PENDSTSET_Pos             26U                                            /*!< SCB ICSR: PENDSTSET Position */
-#define SCB_ICSR_PENDSTSET_Msk             (1UL << SCB_ICSR_PENDSTSET_Pos)                /*!< SCB ICSR: PENDSTSET Mask */
-
-#define SCB_ICSR_PENDSTCLR_Pos             25U                                            /*!< SCB ICSR: PENDSTCLR Position */
-#define SCB_ICSR_PENDSTCLR_Msk             (1UL << SCB_ICSR_PENDSTCLR_Pos)                /*!< SCB ICSR: PENDSTCLR Mask */
-
-#define SCB_ICSR_ISRPREEMPT_Pos            23U                                            /*!< SCB ICSR: ISRPREEMPT Position */
-#define SCB_ICSR_ISRPREEMPT_Msk            (1UL << SCB_ICSR_ISRPREEMPT_Pos)               /*!< SCB ICSR: ISRPREEMPT Mask */
-
-#define SCB_ICSR_ISRPENDING_Pos            22U                                            /*!< SCB ICSR: ISRPENDING Position */
-#define SCB_ICSR_ISRPENDING_Msk            (1UL << SCB_ICSR_ISRPENDING_Pos)               /*!< SCB ICSR: ISRPENDING Mask */
-
-#define SCB_ICSR_VECTPENDING_Pos           12U                                            /*!< SCB ICSR: VECTPENDING Position */
-#define SCB_ICSR_VECTPENDING_Msk           (0x1FFUL << SCB_ICSR_VECTPENDING_Pos)          /*!< SCB ICSR: VECTPENDING Mask */
-
-#define SCB_ICSR_VECTACTIVE_Pos             0U                                            /*!< SCB ICSR: VECTACTIVE Position */
-#define SCB_ICSR_VECTACTIVE_Msk            (0x1FFUL /*<< SCB_ICSR_VECTACTIVE_Pos*/)       /*!< SCB ICSR: VECTACTIVE Mask */
-
-/* SCB Application Interrupt and Reset Control Register Definitions */
-#define SCB_AIRCR_VECTKEY_Pos              16U                                            /*!< SCB AIRCR: VECTKEY Position */
-#define SCB_AIRCR_VECTKEY_Msk              (0xFFFFUL << SCB_AIRCR_VECTKEY_Pos)            /*!< SCB AIRCR: VECTKEY Mask */
-
-#define SCB_AIRCR_VECTKEYSTAT_Pos          16U                                            /*!< SCB AIRCR: VECTKEYSTAT Position */
-#define SCB_AIRCR_VECTKEYSTAT_Msk          (0xFFFFUL << SCB_AIRCR_VECTKEYSTAT_Pos)        /*!< SCB AIRCR: VECTKEYSTAT Mask */
-
-#define SCB_AIRCR_ENDIANESS_Pos            15U                                            /*!< SCB AIRCR: ENDIANESS Position */
-#define SCB_AIRCR_ENDIANESS_Msk            (1UL << SCB_AIRCR_ENDIANESS_Pos)               /*!< SCB AIRCR: ENDIANESS Mask */
-
-#define SCB_AIRCR_SYSRESETREQ_Pos           2U                                            /*!< SCB AIRCR: SYSRESETREQ Position */
-#define SCB_AIRCR_SYSRESETREQ_Msk          (1UL << SCB_AIRCR_SYSRESETREQ_Pos)             /*!< SCB AIRCR: SYSRESETREQ Mask */
-
-#define SCB_AIRCR_VECTCLRACTIVE_Pos         1U                                            /*!< SCB AIRCR: VECTCLRACTIVE Position */
-#define SCB_AIRCR_VECTCLRACTIVE_Msk        (1UL << SCB_AIRCR_VECTCLRACTIVE_Pos)           /*!< SCB AIRCR: VECTCLRACTIVE Mask */
-
-/* SCB System Control Register Definitions */
-#define SCB_SCR_SEVONPEND_Pos               4U                                            /*!< SCB SCR: SEVONPEND Position */
-#define SCB_SCR_SEVONPEND_Msk              (1UL << SCB_SCR_SEVONPEND_Pos)                 /*!< SCB SCR: SEVONPEND Mask */
-
-#define SCB_SCR_SLEEPDEEP_Pos               2U                                            /*!< SCB SCR: SLEEPDEEP Position */
-#define SCB_SCR_SLEEPDEEP_Msk              (1UL << SCB_SCR_SLEEPDEEP_Pos)                 /*!< SCB SCR: SLEEPDEEP Mask */
-
-#define SCB_SCR_SLEEPONEXIT_Pos             1U                                            /*!< SCB SCR: SLEEPONEXIT Position */
-#define SCB_SCR_SLEEPONEXIT_Msk            (1UL << SCB_SCR_SLEEPONEXIT_Pos)               /*!< SCB SCR: SLEEPONEXIT Mask */
-
-/* SCB Configuration Control Register Definitions */
-#define SCB_CCR_STKALIGN_Pos                9U                                            /*!< SCB CCR: STKALIGN Position */
-#define SCB_CCR_STKALIGN_Msk               (1UL << SCB_CCR_STKALIGN_Pos)                  /*!< SCB CCR: STKALIGN Mask */
-
-#define SCB_CCR_UNALIGN_TRP_Pos             3U                                            /*!< SCB CCR: UNALIGN_TRP Position */
-#define SCB_CCR_UNALIGN_TRP_Msk            (1UL << SCB_CCR_UNALIGN_TRP_Pos)               /*!< SCB CCR: UNALIGN_TRP Mask */
-
-/* SCB System Handler Control and State Register Definitions */
-#define SCB_SHCSR_SVCALLPENDED_Pos         15U                                            /*!< SCB SHCSR: SVCALLPENDED Position */
-#define SCB_SHCSR_SVCALLPENDED_Msk         (1UL << SCB_SHCSR_SVCALLPENDED_Pos)            /*!< SCB SHCSR: SVCALLPENDED Mask */
-
-/*@} end of group CMSIS_SCB */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_SCnSCB System Controls not in SCB (SCnSCB)
-  \brief    Type definitions for the System Control and ID Register not in the SCB
-  @{
- */
-
-/**
-  \brief  Structure type to access the System Control and ID Register not in the SCB.
- */
-typedef struct
-{
-        uint32_t RESERVED0[2U];
-  __IOM uint32_t ACTLR;                  /*!< Offset: 0x008 (R/W)  Auxiliary Control Register */
-} SCnSCB_Type;
-
-/* Auxiliary Control Register Definitions */
-#define SCnSCB_ACTLR_ITCMUAEN_Pos            4U                                        /*!< ACTLR: Instruction TCM Upper Alias Enable Position */
-#define SCnSCB_ACTLR_ITCMUAEN_Msk           (1UL << SCnSCB_ACTLR_ITCMUAEN_Pos)         /*!< ACTLR: Instruction TCM Upper Alias Enable Mask */
-
-#define SCnSCB_ACTLR_ITCMLAEN_Pos            3U                                        /*!< ACTLR: Instruction TCM Lower Alias Enable Position */
-#define SCnSCB_ACTLR_ITCMLAEN_Msk           (1UL << SCnSCB_ACTLR_ITCMLAEN_Pos)         /*!< ACTLR: Instruction TCM Lower Alias Enable Mask */
-
-/*@} end of group CMSIS_SCnotSCB */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_SysTick     System Tick Timer (SysTick)
-  \brief    Type definitions for the System Timer Registers.
-  @{
- */
-
-/**
-  \brief  Structure type to access the System Timer (SysTick).
- */
-typedef struct
-{
-  __IOM uint32_t CTRL;                   /*!< Offset: 0x000 (R/W)  SysTick Control and Status Register */
-  __IOM uint32_t LOAD;                   /*!< Offset: 0x004 (R/W)  SysTick Reload Value Register */
-  __IOM uint32_t VAL;                    /*!< Offset: 0x008 (R/W)  SysTick Current Value Register */
-  __IM  uint32_t CALIB;                  /*!< Offset: 0x00C (R/ )  SysTick Calibration Register */
-} SysTick_Type;
-
-/* SysTick Control / Status Register Definitions */
-#define SysTick_CTRL_COUNTFLAG_Pos         16U                                            /*!< SysTick CTRL: COUNTFLAG Position */
-#define SysTick_CTRL_COUNTFLAG_Msk         (1UL << SysTick_CTRL_COUNTFLAG_Pos)            /*!< SysTick CTRL: COUNTFLAG Mask */
-
-#define SysTick_CTRL_CLKSOURCE_Pos          2U                                            /*!< SysTick CTRL: CLKSOURCE Position */
-#define SysTick_CTRL_CLKSOURCE_Msk         (1UL << SysTick_CTRL_CLKSOURCE_Pos)            /*!< SysTick CTRL: CLKSOURCE Mask */
-
-#define SysTick_CTRL_TICKINT_Pos            1U                                            /*!< SysTick CTRL: TICKINT Position */
-#define SysTick_CTRL_TICKINT_Msk           (1UL << SysTick_CTRL_TICKINT_Pos)              /*!< SysTick CTRL: TICKINT Mask */
-
-#define SysTick_CTRL_ENABLE_Pos             0U                                            /*!< SysTick CTRL: ENABLE Position */
-#define SysTick_CTRL_ENABLE_Msk            (1UL /*<< SysTick_CTRL_ENABLE_Pos*/)           /*!< SysTick CTRL: ENABLE Mask */
-
-/* SysTick Reload Register Definitions */
-#define SysTick_LOAD_RELOAD_Pos             0U                                            /*!< SysTick LOAD: RELOAD Position */
-#define SysTick_LOAD_RELOAD_Msk            (0xFFFFFFUL /*<< SysTick_LOAD_RELOAD_Pos*/)    /*!< SysTick LOAD: RELOAD Mask */
-
-/* SysTick Current Register Definitions */
-#define SysTick_VAL_CURRENT_Pos             0U                                            /*!< SysTick VAL: CURRENT Position */
-#define SysTick_VAL_CURRENT_Msk            (0xFFFFFFUL /*<< SysTick_VAL_CURRENT_Pos*/)    /*!< SysTick VAL: CURRENT Mask */
-
-/* SysTick Calibration Register Definitions */
-#define SysTick_CALIB_NOREF_Pos            31U                                            /*!< SysTick CALIB: NOREF Position */
-#define SysTick_CALIB_NOREF_Msk            (1UL << SysTick_CALIB_NOREF_Pos)               /*!< SysTick CALIB: NOREF Mask */
-
-#define SysTick_CALIB_SKEW_Pos             30U                                            /*!< SysTick CALIB: SKEW Position */
-#define SysTick_CALIB_SKEW_Msk             (1UL << SysTick_CALIB_SKEW_Pos)                /*!< SysTick CALIB: SKEW Mask */
-
-#define SysTick_CALIB_TENMS_Pos             0U                                            /*!< SysTick CALIB: TENMS Position */
-#define SysTick_CALIB_TENMS_Msk            (0xFFFFFFUL /*<< SysTick_CALIB_TENMS_Pos*/)    /*!< SysTick CALIB: TENMS Mask */
-
-/*@} end of group CMSIS_SysTick */
-
-
-/**
-  \ingroup  CMSIS_core_register
-  \defgroup CMSIS_CoreDebug       Core Debug Registers (CoreDebug)
-  \brief    Cortex-M1 Core Debug Registers (DCB registers, SHCSR, and DFSR) are only accessible over DAP and not via processor.
-            Therefore they are not covered by the Cortex-M1 header file.
-  @{
- */
-/*@} end of group CMSIS_CoreDebug */
-
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_core_bitfield     Core register bit field macros
-  \brief      Macros for use with bit field definitions (xxx_Pos, xxx_Msk).
-  @{
- */
-
-/**
-  \brief   Mask and shift a bit field value for use in a register bit range.
-  \param[in] field  Name of the register bit field.
-  \param[in] value  Value of the bit field. This parameter is interpreted as an uint32_t type.
-  \return           Masked and shifted value.
-*/
-#define _VAL2FLD(field, value)    (((uint32_t)(value) << field ## _Pos) & field ## _Msk)
-
-/**
-  \brief     Mask and shift a register value to extract a bit filed value.
-  \param[in] field  Name of the register bit field.
-  \param[in] value  Value of register. This parameter is interpreted as an uint32_t type.
-  \return           Masked and shifted bit field value.
-*/
-#define _FLD2VAL(field, value)    (((uint32_t)(value) & field ## _Msk) >> field ## _Pos)
-
-/*@} end of group CMSIS_core_bitfield */
-
-
-/**
-  \ingroup    CMSIS_core_register
-  \defgroup   CMSIS_core_base     Core Definitions
-  \brief      Definitions for base addresses, unions, and structures.
-  @{
- */
-
-/* Memory mapping of Core Hardware */
-#define SCS_BASE            (0xE000E000UL)                            /*!< System Control Space Base Address */
-#define SysTick_BASE        (SCS_BASE +  0x0010UL)                    /*!< SysTick Base Address */
-#define NVIC_BASE           (SCS_BASE +  0x0100UL)                    /*!< NVIC Base Address */
-#define SCB_BASE            (SCS_BASE +  0x0D00UL)                    /*!< System Control Block Base Address */
-
-#define SCnSCB              ((SCnSCB_Type    *)     SCS_BASE      )   /*!< System control Register not in SCB */
-#define SCB                 ((SCB_Type       *)     SCB_BASE      )   /*!< SCB configuration struct */
-#define SysTick             ((SysTick_Type   *)     SysTick_BASE  )   /*!< SysTick configuration struct */
-#define NVIC                ((NVIC_Type      *)     NVIC_BASE     )   /*!< NVIC configuration struct */
-
-
-/*@} */
-
-
-
-/*******************************************************************************
- *                Hardware Abstraction Layer
-  Core Function Interface contains:
-  - Core NVIC Functions
-  - Core SysTick Functions
-  - Core Register Access Functions
- ******************************************************************************/
-/**
-  \defgroup CMSIS_Core_FunctionInterface Functions and Instructions Reference
-*/
-
-
-
-/* ##########################   NVIC functions  #################################### */
-/**
-  \ingroup  CMSIS_Core_FunctionInterface
-  \defgroup CMSIS_Core_NVICFunctions NVIC Functions
-  \brief    Functions that manage interrupts and exceptions via the NVIC.
-  @{
- */
-
-#ifdef CMSIS_NVIC_VIRTUAL
-  #ifndef CMSIS_NVIC_VIRTUAL_HEADER_FILE
-    #define CMSIS_NVIC_VIRTUAL_HEADER_FILE "cmsis_nvic_virtual.h"
-  #endif
-  #include CMSIS_NVIC_VIRTUAL_HEADER_FILE
-#else
-  #define NVIC_SetPriorityGrouping    __NVIC_SetPriorityGrouping
-  #define NVIC_GetPriorityGrouping    __NVIC_GetPriorityGrouping
-  #define NVIC_EnableIRQ              __NVIC_EnableIRQ
-  #define NVIC_GetEnableIRQ           __NVIC_GetEnableIRQ
-  #define NVIC_DisableIRQ             __NVIC_DisableIRQ
-  #define NVIC_GetPendingIRQ          __NVIC_GetPendingIRQ
-  #define NVIC_SetPendingIRQ          __NVIC_SetPendingIRQ
-  #define NVIC_ClearPendingIRQ        __NVIC_ClearPendingIRQ
-/*#define NVIC_GetActive              __NVIC_GetActive             not available for Cortex-M1 */
-  #define NVIC_SetPriority            __NVIC_SetPriority
-  #define NVIC_GetPriority            __NVIC_GetPriority
-  #define NVIC_SystemReset            __NVIC_SystemReset
-#endif /* CMSIS_NVIC_VIRTUAL */
-
-#ifdef CMSIS_VECTAB_VIRTUAL
-  #ifndef CMSIS_VECTAB_VIRTUAL_HEADER_FILE
-    #define CMSIS_VECTAB_VIRTUAL_HEADER_FILE "cmsis_vectab_virtual.h"
-  #endif
-  #include CMSIS_VECTAB_VIRTUAL_HEADER_FILE
-#else
-  #define NVIC_SetVector              __NVIC_SetVector
-  #define NVIC_GetVector              __NVIC_GetVector
-#endif  /* (CMSIS_VECTAB_VIRTUAL) */
-
-#define NVIC_USER_IRQ_OFFSET          16
-
-
-/* The following EXC_RETURN values are saved the LR on exception entry */
-#define EXC_RETURN_HANDLER         (0xFFFFFFF1UL)     /* return to Handler mode, uses MSP after return                               */
-#define EXC_RETURN_THREAD_MSP      (0xFFFFFFF9UL)     /* return to Thread mode, uses MSP after return                                */
-#define EXC_RETURN_THREAD_PSP      (0xFFFFFFFDUL)     /* return to Thread mode, uses PSP after return                                */
-
-
-/* Interrupt Priorities are WORD accessible only under Armv6-M                  */
-/* The following MACROS handle generation of the register offset and byte masks */
-#define _BIT_SHIFT(IRQn)         (  ((((uint32_t)(int32_t)(IRQn))         )      &  0x03UL) * 8UL)
-#define _SHP_IDX(IRQn)           ( (((((uint32_t)(int32_t)(IRQn)) & 0x0FUL)-8UL) >>    2UL)      )
-#define _IP_IDX(IRQn)            (   (((uint32_t)(int32_t)(IRQn))                >>    2UL)      )
-
-#define __NVIC_SetPriorityGrouping(X) (void)(X)
-#define __NVIC_GetPriorityGrouping()  (0U)
-
-/**
-  \brief   Enable Interrupt
-  \details Enables a device specific interrupt in the NVIC interrupt controller.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_EnableIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    __COMPILER_BARRIER();
-    NVIC->ISER[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-    __COMPILER_BARRIER();
-  }
-}
-
-
-/**
-  \brief   Get Interrupt Enable status
-  \details Returns a device specific interrupt enable status from the NVIC interrupt controller.
-  \param [in]      IRQn  Device specific interrupt number.
-  \return             0  Interrupt is not enabled.
-  \return             1  Interrupt is enabled.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE uint32_t __NVIC_GetEnableIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    return((uint32_t)(((NVIC->ISER[0U] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
-  }
-  else
-  {
-    return(0U);
-  }
-}
-
-
-/**
-  \brief   Disable Interrupt
-  \details Disables a device specific interrupt in the NVIC interrupt controller.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_DisableIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->ICER[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-    __DSB();
-    __ISB();
-  }
-}
-
-
-/**
-  \brief   Get Pending Interrupt
-  \details Reads the NVIC pending register and returns the pending bit for the specified device specific interrupt.
-  \param [in]      IRQn  Device specific interrupt number.
-  \return             0  Interrupt status is not pending.
-  \return             1  Interrupt status is pending.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE uint32_t __NVIC_GetPendingIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    return((uint32_t)(((NVIC->ISPR[0U] & (1UL << (((uint32_t)IRQn) & 0x1FUL))) != 0UL) ? 1UL : 0UL));
-  }
-  else
-  {
-    return(0U);
-  }
-}
-
-
-/**
-  \brief   Set Pending Interrupt
-  \details Sets the pending bit of a device specific interrupt in the NVIC pending register.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_SetPendingIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->ISPR[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-  }
-}
-
-
-/**
-  \brief   Clear Pending Interrupt
-  \details Clears the pending bit of a device specific interrupt in the NVIC pending register.
-  \param [in]      IRQn  Device specific interrupt number.
-  \note    IRQn must not be negative.
- */
-__STATIC_INLINE void __NVIC_ClearPendingIRQ(IRQn_Type IRQn)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->ICPR[0U] = (uint32_t)(1UL << (((uint32_t)IRQn) & 0x1FUL));
-  }
-}
-
-
-/**
-  \brief   Set Interrupt Priority
-  \details Sets the priority of a device specific interrupt or a processor exception.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-  \param [in]      IRQn  Interrupt number.
-  \param [in]  priority  Priority to set.
-  \note    The priority cannot be set for every processor exception.
- */
-__STATIC_INLINE void __NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
-{
-  if ((int32_t)(IRQn) >= 0)
-  {
-    NVIC->IP[_IP_IDX(IRQn)]  = ((uint32_t)(NVIC->IP[_IP_IDX(IRQn)]  & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
-       (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
-  }
-  else
-  {
-    SCB->SHP[_SHP_IDX(IRQn)] = ((uint32_t)(SCB->SHP[_SHP_IDX(IRQn)] & ~(0xFFUL << _BIT_SHIFT(IRQn))) |
-       (((priority << (8U - __NVIC_PRIO_BITS)) & (uint32_t)0xFFUL) << _BIT_SHIFT(IRQn)));
-  }
-}
-
-
-/**
-  \brief   Get Interrupt Priority
-  \details Reads the priority of a device specific interrupt or a processor exception.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-  \param [in]   IRQn  Interrupt number.
-  \return             Interrupt Priority.
-                      Value is aligned automatically to the implemented priority bits of the microcontroller.
- */
-__STATIC_INLINE uint32_t __NVIC_GetPriority(IRQn_Type IRQn)
-{
-
-  if ((int32_t)(IRQn) >= 0)
-  {
-    return((uint32_t)(((NVIC->IP[ _IP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
-  }
-  else
-  {
-    return((uint32_t)(((SCB->SHP[_SHP_IDX(IRQn)] >> _BIT_SHIFT(IRQn) ) & (uint32_t)0xFFUL) >> (8U - __NVIC_PRIO_BITS)));
-  }
-}
-
-
-/**
-  \brief   Encode Priority
-  \details Encodes the priority for an interrupt with the given priority group,
-           preemptive priority value, and subpriority value.
-           In case of a conflict between priority grouping and available
-           priority bits (__NVIC_PRIO_BITS), the smallest possible priority group is set.
-  \param [in]     PriorityGroup  Used priority group.
-  \param [in]   PreemptPriority  Preemptive priority value (starting from 0).
-  \param [in]       SubPriority  Subpriority value (starting from 0).
-  \return                        Encoded priority. Value can be used in the function \ref NVIC_SetPriority().
- */
-__STATIC_INLINE uint32_t NVIC_EncodePriority (uint32_t PriorityGroup, uint32_t PreemptPriority, uint32_t SubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);   /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp);
-  SubPriorityBits     = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS));
-
-  return (
-           ((PreemptPriority & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL)) << SubPriorityBits) |
-           ((SubPriority     & (uint32_t)((1UL << (SubPriorityBits    )) - 1UL)))
-         );
-}
-
-
-/**
-  \brief   Decode Priority
-  \details Decodes an interrupt priority value with a given priority group to
-           preemptive priority value and subpriority value.
-           In case of a conflict between priority grouping and available
-           priority bits (__NVIC_PRIO_BITS) the smallest possible priority group is set.
-  \param [in]         Priority   Priority value, which can be retrieved with the function \ref NVIC_GetPriority().
-  \param [in]     PriorityGroup  Used priority group.
-  \param [out] pPreemptPriority  Preemptive priority value (starting from 0).
-  \param [out]     pSubPriority  Subpriority value (starting from 0).
- */
-__STATIC_INLINE void NVIC_DecodePriority (uint32_t Priority, uint32_t PriorityGroup, uint32_t* const pPreemptPriority, uint32_t* const pSubPriority)
-{
-  uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07UL);   /* only values 0..7 are used          */
-  uint32_t PreemptPriorityBits;
-  uint32_t SubPriorityBits;
-
-  PreemptPriorityBits = ((7UL - PriorityGroupTmp) > (uint32_t)(__NVIC_PRIO_BITS)) ? (uint32_t)(__NVIC_PRIO_BITS) : (uint32_t)(7UL - PriorityGroupTmp);
-  SubPriorityBits     = ((PriorityGroupTmp + (uint32_t)(__NVIC_PRIO_BITS)) < (uint32_t)7UL) ? (uint32_t)0UL : (uint32_t)((PriorityGroupTmp - 7UL) + (uint32_t)(__NVIC_PRIO_BITS));
-
-  *pPreemptPriority = (Priority >> SubPriorityBits) & (uint32_t)((1UL << (PreemptPriorityBits)) - 1UL);
-  *pSubPriority     = (Priority                   ) & (uint32_t)((1UL << (SubPriorityBits    )) - 1UL);
-}
-
-
-
-/**
-  \brief   Set Interrupt Vector
-  \details Sets an interrupt vector in SRAM based interrupt vector table.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-           Address 0 must be mapped to SRAM.
-  \param [in]   IRQn      Interrupt number
-  \param [in]   vector    Address of interrupt handler function
- */
-__STATIC_INLINE void __NVIC_SetVector(IRQn_Type IRQn, uint32_t vector)
-{
-  uint32_t *vectors = (uint32_t *)0x0U;
-  vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET] = vector;
-  /* ARM Application Note 321 states that the M1 does not require the architectural barrier */
-}
-
-
-/**
-  \brief   Get Interrupt Vector
-  \details Reads an interrupt vector from interrupt vector table.
-           The interrupt number can be positive to specify a device specific interrupt,
-           or negative to specify a processor exception.
-  \param [in]   IRQn      Interrupt number.
-  \return                 Address of interrupt handler function
- */
-__STATIC_INLINE uint32_t __NVIC_GetVector(IRQn_Type IRQn)
-{
-  uint32_t *vectors = (uint32_t *)0x0U;
-  return vectors[(int32_t)IRQn + NVIC_USER_IRQ_OFFSET];
-}
-
-
-/**
-  \brief   System Reset
-  \details Initiates a system reset request to reset the MCU.
- */
-__NO_RETURN __STATIC_INLINE void __NVIC_SystemReset(void)
-{
-  __DSB();                                                          /* Ensure all outstanding memory accesses included
-                                                                       buffered write are completed before reset */
-  SCB->AIRCR  = ((0x5FAUL << SCB_AIRCR_VECTKEY_Pos) |
-                 SCB_AIRCR_SYSRESETREQ_Msk);
-  __DSB();                                                          /* Ensure completion of memory access */
-
-  for(;;)                                                           /* wait until reset */
-  {
-    __NOP();
-  }
-}
-
-/*@} end of CMSIS_Core_NVICFunctions */
-
-
-/* ##########################  FPU functions  #################################### */
-/**
-  \ingroup  CMSIS_Core_FunctionInterface
-  \defgroup CMSIS_Core_FpuFunctions FPU Functions
-  \brief    Function that provides FPU type.
-  @{
- */
-
-/**
-  \brief   get FPU type
-  \details returns the FPU type
-  \returns
-   - \b  0: No FPU
-   - \b  1: Single precision FPU
-   - \b  2: Double + Single precision FPU
- */
-__STATIC_INLINE uint32_t SCB_GetFPUType(void)
-{
-    return 0U;           /* No FPU */
-}
-
-
-/*@} end of CMSIS_Core_FpuFunctions */
-
-
-
-/* ##################################    SysTick function  ############################################ */
-/**
-  \ingroup  CMSIS_Core_FunctionInterface
-  \defgroup CMSIS_Core_SysTickFunctions SysTick Functions
-  \brief    Functions that configure the System.
-  @{
- */
-
-#if defined (__Vendor_SysTickConfig) && (__Vendor_SysTickConfig == 0U)
-
-/**
-  \brief   System Tick Configuration
-  \details Initializes the System Timer and its interrupt, and starts the System Tick Timer.
-           Counter is in free running mode to generate periodic interrupts.
-  \param [in]  ticks  Number of ticks between two interrupts.
-  \return          0  Function succeeded.
-  \return          1  Function failed.
-  \note    When the variable <b>__Vendor_SysTickConfig</b> is set to 1, then the
-           function <b>SysTick_Config</b> is not included. In this case, the file <b><i>device</i>.h</b>
-           must contain a vendor-specific implementation of this function.
- */
-__STATIC_INLINE uint32_t SysTick_Config(uint32_t ticks)
-{
-  if ((ticks - 1UL) > SysTick_LOAD_RELOAD_Msk)
-  {
-    return (1UL);                                                   /* Reload value impossible */
-  }
-
-  SysTick->LOAD  = (uint32_t)(ticks - 1UL);                         /* set reload register */
-  NVIC_SetPriority (SysTick_IRQn, (1UL << __NVIC_PRIO_BITS) - 1UL); /* set Priority for Systick Interrupt */
-  SysTick->VAL   = 0UL;                                             /* Load the SysTick Counter Value */
-  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk |
-                   SysTick_CTRL_TICKINT_Msk   |
-                   SysTick_CTRL_ENABLE_Msk;                         /* Enable SysTick IRQ and SysTick Timer */
-  return (0UL);                                                     /* Function successful */
-}
-
-#endif
-
-/*@} end of CMSIS_Core_SysTickFunctions */
-
-
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __CORE_CM1_H_DEPENDANT */
-
-#endif /* __CMSIS_GENERIC */