启用 MEMTRACE

Signed-off-by: a1012112796 <1012112796@qq.com>
添加看门狗驱动
2024-05-21 11:29:25 +08:00 · 2024-05-15 20:04:04 +08:00 · 2024-01-25 09:09:43 +08:00 · 2024-01-24 13:55:07 +08:00 · 2023-12-08 08:42:05 +08:00 · 2023-12-06 10:31:11 +08:00
25 changed files with 479 additions and 265 deletions
--- a/.config
+++ b/.config
@@ -66,7 +66,7 @@ CONFIG_RT_USING_SMALL_MEM_AS_HEAP=y
 # CONFIG_RT_USING_SLAB_AS_HEAP is not set
 # CONFIG_RT_USING_USERHEAP is not set
 # CONFIG_RT_USING_NOHEAP is not set
-# CONFIG_RT_USING_MEMTRACE is not set
+CONFIG_RT_USING_MEMTRACE=y
 # CONFIG_RT_USING_HEAP_ISR is not set
 CONFIG_RT_USING_HEAP=y

@@ -78,7 +78,7 @@ CONFIG_RT_USING_DEVICE=y
 # CONFIG_RT_USING_INTERRUPT_INFO is not set
 CONFIG_RT_USING_CONSOLE=y
 CONFIG_RT_CONSOLEBUF_SIZE=256
-CONFIG_RT_CONSOLE_DEVICE_NAME="uart4"
+CONFIG_RT_CONSOLE_DEVICE_NAME="uart8"
 CONFIG_RT_VER_NUM=0x50000
 CONFIG_ARCH_ARM=y
 CONFIG_RT_USING_CPU_FFS=y
@@ -255,7 +255,6 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_KAWAII_MQTT is not set
 # CONFIG_PKG_USING_BC28_MQTT is not set
 # CONFIG_PKG_USING_WEBTERMINAL is not set
-# CONFIG_PKG_USING_LIBMODBUS is not set
 # CONFIG_PKG_USING_FREEMODBUS is not set
 # CONFIG_PKG_USING_NANOPB is not set

@@ -333,6 +332,7 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_NET_SERVER is not set
 # CONFIG_PKG_USING_ZFTP is not set
 # CONFIG_PKG_USING_WOL is not set
+# CONFIG_PKG_USING_ZEPHYR_POLLING is not set

 #
 # security packages
@@ -401,18 +401,13 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_MP3PLAYER is not set
 # CONFIG_PKG_USING_TINYJPEG is not set
 # CONFIG_PKG_USING_UGUI is not set
-
-#
-# PainterEngine: A cross-platform graphics application framework written in C language
-#
-# CONFIG_PKG_USING_PAINTERENGINE is not set
-# CONFIG_PKG_USING_PAINTERENGINE_AUX is not set
 # CONFIG_PKG_USING_MCURSES is not set
 # CONFIG_PKG_USING_TERMBOX is not set
 # CONFIG_PKG_USING_VT100 is not set
 # CONFIG_PKG_USING_QRCODE is not set
 # CONFIG_PKG_USING_GUIENGINE is not set
 # CONFIG_PKG_USING_PERSIMMON is not set
+# CONFIG_PKG_USING_3GPP_AMRNB is not set

 #
 # tools packages
@@ -422,6 +417,7 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_EASYLOGGER is not set
 # CONFIG_PKG_USING_SYSTEMVIEW is not set
 # CONFIG_PKG_USING_SEGGER_RTT is not set
+# CONFIG_PKG_USING_RTT_AUTO_EXE_CMD is not set
 # CONFIG_PKG_USING_RDB is not set
 # CONFIG_PKG_USING_ULOG_EASYFLASH is not set
 # CONFIG_PKG_USING_LOGMGR is not set
@@ -459,6 +455,7 @@ CONFIG_ULOG_BACKEND_USING_CONSOLE=y
 # CONFIG_PKG_USING_HASH_MATCH is not set
 # CONFIG_PKG_USING_ARMV7M_DWT_TOOL is not set
 # CONFIG_PKG_USING_VOFA_PLUS is not set
+# CONFIG_PKG_USING_RT_TRACE is not set

 #
 # system packages
@@ -538,6 +535,7 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_QPC is not set
 # CONFIG_PKG_USING_AGILE_UPGRADE is not set
 # CONFIG_PKG_USING_FLASH_BLOB is not set
+# CONFIG_PKG_USING_MLIBC is not set

 #
 # peripheral libraries and drivers
@@ -609,6 +607,7 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_CW2015 is not set
 # CONFIG_PKG_USING_ICM20608 is not set
 # CONFIG_PKG_USING_PAJ7620 is not set
+# CONFIG_PKG_USING_STHS34PF80 is not set

 #
 # touch drivers
@@ -621,6 +620,7 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_FT5426 is not set
 # CONFIG_PKG_USING_FT6236 is not set
 # CONFIG_PKG_USING_XPT2046_TOUCH is not set
+# CONFIG_PKG_USING_CST816X is not set
 # CONFIG_PKG_USING_REALTEK_AMEBA is not set
 # CONFIG_PKG_USING_STM32_SDIO is not set
 # CONFIG_PKG_USING_ESP_IDF is not set
@@ -633,7 +633,6 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_LKDGUI is not set
 # CONFIG_PKG_USING_NRF5X_SDK is not set
 # CONFIG_PKG_USING_NRFX is not set
-# CONFIG_PKG_USING_WM_LIBRARIES is not set

 #
 # Kendryte SDK
@@ -647,6 +646,7 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_AT24CXX is not set
 # CONFIG_PKG_USING_MOTIONDRIVER2RTT is not set
 # CONFIG_PKG_USING_PCA9685 is not set
+# CONFIG_PKG_USING_ILI9341 is not set
 # CONFIG_PKG_USING_I2C_TOOLS is not set
 # CONFIG_PKG_USING_NRF24L01 is not set
 # CONFIG_PKG_USING_RPLIDAR is not set
@@ -690,14 +690,17 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_MISAKA_AT24CXX is not set
 # CONFIG_PKG_USING_MISAKA_RGB_BLING is not set
 # CONFIG_PKG_USING_LORA_MODEM_DRIVER is not set
-# CONFIG_PKG_USING_BL_MCU_SDK is not set
 # CONFIG_PKG_USING_SOFT_SERIAL is not set
 # CONFIG_PKG_USING_MB85RS16 is not set
 # CONFIG_PKG_USING_RFM300 is not set
 # CONFIG_PKG_USING_IO_INPUT_FILTER is not set
 # CONFIG_PKG_USING_RASPBERRYPI_PICO_SDK is not set
 # CONFIG_PKG_USING_LRF_NV7LIDAR is not set
+# CONFIG_PKG_USING_AIP650 is not set
 # CONFIG_PKG_USING_FINGERPRINT is not set
+# CONFIG_PKG_USING_BT_ECB02C is not set
+# CONFIG_PKG_USING_UAT is not set
+# CONFIG_PKG_USING_SPI_TOOLS is not set

 #
 # AI packages
@@ -716,7 +719,10 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # Signal Processing and Control Algorithm Packages
 #
 # CONFIG_PKG_USING_FIRE_PID_CURVE is not set
+# CONFIG_PKG_USING_QPID is not set
 # CONFIG_PKG_USING_UKAL is not set
+# CONFIG_PKG_USING_DIGITALCTRL is not set
+# CONFIG_PKG_USING_KISSFFT is not set

 #
 # miscellaneous packages
@@ -747,6 +753,7 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_TETRIS is not set
 # CONFIG_PKG_USING_DONUT is not set
 # CONFIG_PKG_USING_COWSAY is not set
+# CONFIG_PKG_USING_MORSE is not set
 # CONFIG_PKG_USING_LIBCSV is not set
 # CONFIG_PKG_USING_OPTPARSE is not set
 # CONFIG_PKG_USING_FASTLZ is not set
@@ -762,7 +769,6 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_DSTR is not set
 # CONFIG_PKG_USING_TINYFRAME is not set
 # CONFIG_PKG_USING_KENDRYTE_DEMO is not set
-# CONFIG_PKG_USING_DIGITALCTRL is not set
 # CONFIG_PKG_USING_UPACKER is not set
 # CONFIG_PKG_USING_UPARAM is not set
 # CONFIG_PKG_USING_HELLO is not set
@@ -788,8 +794,9 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_RTDUINO is not set

 #
-# Projects
+# Projects and Demos
 #
+# CONFIG_PKG_USING_ARDUINO_MSGQ_C_CPP_DEMO is not set
 # CONFIG_PKG_USING_ARDUINO_ULTRASOUND_RADAR is not set
 # CONFIG_PKG_USING_ARDUINO_SENSOR_KIT is not set
 # CONFIG_PKG_USING_ARDUINO_MATLAB_SUPPORT is not set
@@ -936,13 +943,19 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 #
 # Display
 #
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_GFX_LIBRARY is not set
 # CONFIG_PKG_USING_ARDUINO_U8G2 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_ST7735 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_SSD1306 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_ILI9341 is not set
 # CONFIG_PKG_USING_SEEED_TM1637 is not set

 #
 # Timing
 #
 # CONFIG_PKG_USING_ARDUINO_MSTIMER2 is not set
+# CONFIG_PKG_USING_ARDUINO_TICKER is not set
+# CONFIG_PKG_USING_ARDUINO_TASKSCHEDULER is not set

 #
 # Data Processing
@@ -966,10 +979,17 @@ CONFIG_PKG_RT_VSNPRINTF_FULL_VER="latest"
 # CONFIG_PKG_USING_ARDUINO_ADAFRUIT_PCF8574 is not set
 # CONFIG_PKG_USING_ARDUINO_ADAFRUIT_PCA9685 is not set
 # CONFIG_PKG_USING_ARDUINO_SEEED_PCF85063TP is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_TPA2016 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_DRV2605 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_DS1841 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_DS3502 is not set

 #
 # Other
 #
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_MFRC630 is not set
+# CONFIG_PKG_USING_ARDUINO_ADAFRUIT_SI5351 is not set
+# CONFIG_PKG_USING_ARDUINO_RTCLIB is not set

 #
 # Signal IO
@@ -1063,10 +1083,15 @@ CONFIG_BSP_USING_CAPTURE2=y
 # CONFIG_BSP_USING_CAPTURE2_CH2 is not set
 CONFIG_BSP_USING_CAPTURE2_CH3=y
 CONFIG_BSP_USING_CAPTURE2_CH4=y
+CONFIG_BSP_USING_CAPTURE12=y
+CONFIG_BSP_USING_CAPTURE12_CH1=y
+CONFIG_BSP_USING_CAPTURE12_CH2=y
+# CONFIG_BSP_USING_CAPTURE12_CH3 is not set
+# CONFIG_BSP_USING_CAPTURE12_CH4 is not set
 CONFIG_BSP_USING_ADC=y
 CONFIG_BSP_USING_ADC1=y
 # CONFIG_BSP_USING_ONCHIP_RTC is not set
-# CONFIG_BSP_USING_WDT is not set
+CONFIG_BSP_USING_WDT=y
 CONFIG_BSP_USING_ON_CHIP_FLASH=y
 # CONFIG_BSP_USING_USBD is not set
 # CONFIG_BSP_USING_RNG is not set
--- a/board/CubeMX_Config/.mxproject
+++ b/board/CubeMX_Config/.mxproject
--- a/board/CubeMX_Config/CubeMX_Config.ioc
+++ b/board/CubeMX_Config/CubeMX_Config.ioc
@@ -5,6 +5,9 @@ ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
 ADC1.master=1
+CAD.formats=
+CAD.pinconfig=
+CAD.provider=
 CAN1.BS1=CAN_BS1_4TQ
 CAN1.CalculateBaudRate=520833
 CAN1.CalculateTimeBit=1920
@@ -27,30 +30,31 @@ Mcu.CPN=STM32F413VGT6
 Mcu.Family=STM32F4
 Mcu.IP0=ADC1
 Mcu.IP1=CAN1
-Mcu.IP10=TIM1
-Mcu.IP11=TIM2
-Mcu.IP12=TIM3
-Mcu.IP13=TIM4
-Mcu.IP14=TIM12
-Mcu.IP15=UART4
-Mcu.IP16=UART5
-Mcu.IP17=UART7
-Mcu.IP18=UART8
-Mcu.IP19=UART9
+Mcu.IP10=SYS
+Mcu.IP11=TIM1
+Mcu.IP12=TIM2
+Mcu.IP13=TIM3
+Mcu.IP14=TIM4
+Mcu.IP15=TIM12
+Mcu.IP16=UART4
+Mcu.IP17=UART5
+Mcu.IP18=UART7
+Mcu.IP19=UART8
 Mcu.IP2=CAN2
-Mcu.IP20=UART10
-Mcu.IP21=USART1
-Mcu.IP22=USART2
-Mcu.IP23=USART3
-Mcu.IP24=USART6
+Mcu.IP20=UART9
+Mcu.IP21=UART10
+Mcu.IP22=USART1
+Mcu.IP23=USART2
+Mcu.IP24=USART3
+Mcu.IP25=USART6
 Mcu.IP3=CAN3
 Mcu.IP4=I2C3
-Mcu.IP5=NVIC
-Mcu.IP6=RCC
-Mcu.IP7=SPI2
-Mcu.IP8=SPI4
-Mcu.IP9=SYS
-Mcu.IPNb=25
+Mcu.IP5=IWDG
+Mcu.IP6=NVIC
+Mcu.IP7=RCC
+Mcu.IP8=SPI2
+Mcu.IP9=SPI4
+Mcu.IPNb=26
 Mcu.Name=STM32F413V(G-H)Tx
 Mcu.Package=LQFP100
 Mcu.Pin0=PE2
@@ -108,20 +112,21 @@ Mcu.Pin55=PB8
 Mcu.Pin56=PB9
 Mcu.Pin57=PE0
 Mcu.Pin58=PE1
-Mcu.Pin59=VP_SYS_VS_Systick
+Mcu.Pin59=VP_IWDG_VS_IWDG
 Mcu.Pin6=PH1 - OSC_OUT
-Mcu.Pin60=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin61=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin62=VP_TIM4_VS_ClockSourceINT
+Mcu.Pin60=VP_SYS_VS_Systick
+Mcu.Pin61=VP_TIM1_VS_ClockSourceINT
+Mcu.Pin62=VP_TIM3_VS_ClockSourceINT
+Mcu.Pin63=VP_TIM4_VS_ClockSourceINT
 Mcu.Pin7=PC0
 Mcu.Pin8=PC1
 Mcu.Pin9=PC2
-Mcu.PinsNb=63
+Mcu.PinsNb=64
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32F413VGTx
-MxCube.Version=6.6.1
-MxDb.Version=DB.6.0.60
+MxCube.Version=6.10.0
+MxDb.Version=DB.6.0.100
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
@@ -264,10 +269,13 @@ ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false
 ProjectManager.ProjectFileName=CubeMX_Config.ioc
 ProjectManager.ProjectName=CubeMX_Config
+ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=MDK-ARM V5.32
 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_USART2_UART_Init-USART2-false-HAL-true,5-MX_CAN1_Init-CAN1-false-HAL-true,6-MX_CAN2_Init-CAN2-false-HAL-true,7-MX_ADC1_Init-ADC1-false-HAL-true,8-MX_CAN3_Init-CAN3-false-HAL-true,9-MX_I2C3_Init-I2C3-false-HAL-true,10-MX_SPI2_Init-SPI2-false-HAL-true,11-MX_SPI4_Init-SPI4-false-HAL-true,12-MX_TIM1_Init-TIM1-false-HAL-true,13-MX_TIM2_Init-TIM2-false-HAL-true,14-MX_TIM3_Init-TIM3-false-HAL-true,15-MX_TIM4_Init-TIM4-false-HAL-true,16-MX_TIM12_Init-TIM12-false-HAL-true,17-MX_UART4_Init-UART4-false-HAL-true,18-MX_UART5_Init-UART5-false-HAL-true,19-MX_UART7_Init-UART7-false-HAL-true,20-MX_UART8_Init-UART8-false-HAL-true,21-MX_UART9_Init-UART9-false-HAL-true,22-MX_UART10_Init-UART10-false-HAL-true,23-MX_USART3_UART_Init-USART3-false-HAL-true,24-MX_USART6_UART_Init-USART6-false-HAL-true
 RCC.AHBFreq_Value=100000000
@@ -404,6 +412,8 @@ USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC
 USART6.IPParameters=VirtualMode
 USART6.VirtualMode=VM_ASYNC
+VP_IWDG_VS_IWDG.Mode=IWDG_Activate
+VP_IWDG_VS_IWDG.Signal=IWDG_VS_IWDG
 VP_SYS_VS_Systick.Mode=SysTick
 VP_SYS_VS_Systick.Signal=SYS_VS_Systick
 VP_TIM1_VS_ClockSourceINT.Mode=Internal
--- a/board/CubeMX_Config/Inc/main.h
+++ b/board/CubeMX_Config/Inc/main.h
@@ -7,7 +7,7 @@
  ******************************************************************************
  * @attention
  *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
@@ -59,6 +59,7 @@ void Error_Handler(void);
 /* USER CODE END EFP */

 /* Private defines -----------------------------------------------------------*/
+
 /* USER CODE BEGIN Private defines */

 /* USER CODE END Private defines */
--- a/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
+++ b/board/CubeMX_Config/Inc/stm32f4xx_hal_conf.h
@@ -37,50 +37,50 @@
  */
 #define HAL_MODULE_ENABLED

-  #define HAL_ADC_MODULE_ENABLED
-/* #define HAL_CRYP_MODULE_ENABLED   */
+  /* #define HAL_CRYP_MODULE_ENABLED */
+#define HAL_ADC_MODULE_ENABLED
 #define HAL_CAN_MODULE_ENABLED
-/* #define HAL_CRC_MODULE_ENABLED   */
-/* #define HAL_CAN_LEGACY_MODULE_ENABLED   */
-/* #define HAL_CRYP_MODULE_ENABLED   */
-/* #define HAL_DAC_MODULE_ENABLED   */
-/* #define HAL_DCMI_MODULE_ENABLED   */
-/* #define HAL_DMA2D_MODULE_ENABLED   */
-/* #define HAL_ETH_MODULE_ENABLED   */
-/* #define HAL_NAND_MODULE_ENABLED   */
-/* #define HAL_NOR_MODULE_ENABLED   */
-/* #define HAL_PCCARD_MODULE_ENABLED   */
-/* #define HAL_SRAM_MODULE_ENABLED   */
-/* #define HAL_SDRAM_MODULE_ENABLED   */
-/* #define HAL_HASH_MODULE_ENABLED   */
+/* #define HAL_CRC_MODULE_ENABLED */
+/* #define HAL_CAN_LEGACY_MODULE_ENABLED */
+/* #define HAL_DAC_MODULE_ENABLED */
+/* #define HAL_DCMI_MODULE_ENABLED */
+/* #define HAL_DMA2D_MODULE_ENABLED */
+/* #define HAL_ETH_MODULE_ENABLED */
+/* #define HAL_ETH_LEGACY_MODULE_ENABLED */
+/* #define HAL_NAND_MODULE_ENABLED */
+/* #define HAL_NOR_MODULE_ENABLED */
+/* #define HAL_PCCARD_MODULE_ENABLED */
+/* #define HAL_SRAM_MODULE_ENABLED */
+/* #define HAL_SDRAM_MODULE_ENABLED */
+/* #define HAL_HASH_MODULE_ENABLED */
 #define HAL_I2C_MODULE_ENABLED
-/* #define HAL_I2S_MODULE_ENABLED   */
-/* #define HAL_IWDG_MODULE_ENABLED   */
-/* #define HAL_LTDC_MODULE_ENABLED   */
-/* #define HAL_RNG_MODULE_ENABLED   */
-/* #define HAL_RTC_MODULE_ENABLED   */
-/* #define HAL_SAI_MODULE_ENABLED   */
-/* #define HAL_SD_MODULE_ENABLED   */
-/* #define HAL_MMC_MODULE_ENABLED   */
+/* #define HAL_I2S_MODULE_ENABLED */
+#define HAL_IWDG_MODULE_ENABLED
+/* #define HAL_LTDC_MODULE_ENABLED */
+/* #define HAL_RNG_MODULE_ENABLED */
+/* #define HAL_RTC_MODULE_ENABLED */
+/* #define HAL_SAI_MODULE_ENABLED */
+/* #define HAL_SD_MODULE_ENABLED */
+/* #define HAL_MMC_MODULE_ENABLED */
 #define HAL_SPI_MODULE_ENABLED
 #define HAL_TIM_MODULE_ENABLED
 #define HAL_UART_MODULE_ENABLED
-/* #define HAL_USART_MODULE_ENABLED   */
-/* #define HAL_IRDA_MODULE_ENABLED   */
-/* #define HAL_SMARTCARD_MODULE_ENABLED   */
-/* #define HAL_SMBUS_MODULE_ENABLED   */
-/* #define HAL_WWDG_MODULE_ENABLED   */
-/* #define HAL_PCD_MODULE_ENABLED   */
-/* #define HAL_HCD_MODULE_ENABLED   */
-/* #define HAL_DSI_MODULE_ENABLED   */
-/* #define HAL_QSPI_MODULE_ENABLED   */
-/* #define HAL_QSPI_MODULE_ENABLED   */
-/* #define HAL_CEC_MODULE_ENABLED   */
-/* #define HAL_FMPI2C_MODULE_ENABLED   */
-/* #define HAL_FMPSMBUS_MODULE_ENABLED   */
-/* #define HAL_SPDIFRX_MODULE_ENABLED   */
-/* #define HAL_DFSDM_MODULE_ENABLED   */
-/* #define HAL_LPTIM_MODULE_ENABLED   */
+/* #define HAL_USART_MODULE_ENABLED */
+/* #define HAL_IRDA_MODULE_ENABLED */
+/* #define HAL_SMARTCARD_MODULE_ENABLED */
+/* #define HAL_SMBUS_MODULE_ENABLED */
+/* #define HAL_WWDG_MODULE_ENABLED */
+/* #define HAL_PCD_MODULE_ENABLED */
+/* #define HAL_HCD_MODULE_ENABLED */
+/* #define HAL_DSI_MODULE_ENABLED */
+/* #define HAL_QSPI_MODULE_ENABLED */
+/* #define HAL_QSPI_MODULE_ENABLED */
+/* #define HAL_CEC_MODULE_ENABLED */
+/* #define HAL_FMPI2C_MODULE_ENABLED */
+/* #define HAL_FMPSMBUS_MODULE_ENABLED */
+/* #define HAL_SPDIFRX_MODULE_ENABLED */
+/* #define HAL_DFSDM_MODULE_ENABLED */
+/* #define HAL_LPTIM_MODULE_ENABLED */
 #define HAL_GPIO_MODULE_ENABLED
 #define HAL_EXTI_MODULE_ENABLED
 #define HAL_DMA_MODULE_ENABLED
@@ -214,7 +214,7 @@
 #define MAC_ADDR5   0U

 /* Definition of the Ethernet driver buffers size and count */
-#define ETH_RX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for receive               */
+#define ETH_RX_BUF_SIZE                 /* buffer size for receive               */
 #define ETH_TX_BUF_SIZE                ETH_MAX_PACKET_SIZE /* buffer size for transmit              */
 #define ETH_RXBUFNB                    4U       /* 4 Rx buffers of size ETH_RX_BUF_SIZE  */
 #define ETH_TXBUFNB                    4U       /* 4 Tx buffers of size ETH_TX_BUF_SIZE  */
@@ -222,7 +222,7 @@
 /* Section 2: PHY configuration section */

 /* DP83848_PHY_ADDRESS Address*/
-#define DP83848_PHY_ADDRESS           0x01U
+#define DP83848_PHY_ADDRESS
 /* PHY Reset delay these values are based on a 1 ms Systick interrupt*/
 #define PHY_RESET_DELAY                 0x000000FFU
 /* PHY Configuration delay */
@@ -252,10 +252,10 @@
 #define PHY_JABBER_DETECTION            ((uint16_t)0x0002U)  /*!< Jabber condition detected            */

 /* Section 4: Extended PHY Registers */
-#define PHY_SR                          ((uint16_t)0x10U)    /*!< PHY status register Offset                      */
+#define PHY_SR                          ((uint16_t))    /*!< PHY status register Offset                      */

-#define PHY_SPEED_STATUS                ((uint16_t)0x0002U)  /*!< PHY Speed mask                                  */
-#define PHY_DUPLEX_STATUS               ((uint16_t)0x0004U)  /*!< PHY Duplex mask                                 */
+#define PHY_SPEED_STATUS                ((uint16_t))  /*!< PHY Speed mask                                  */
+#define PHY_DUPLEX_STATUS               ((uint16_t))  /*!< PHY Duplex mask                                 */

 /* ################## SPI peripheral configuration ########################## */

@@ -327,6 +327,10 @@
  #include "stm32f4xx_hal_eth.h"
 #endif /* HAL_ETH_MODULE_ENABLED */

+#ifdef HAL_ETH_LEGACY_MODULE_ENABLED
+  #include "stm32f4xx_hal_eth_legacy.h"
+#endif /* HAL_ETH_LEGACY_MODULE_ENABLED */
+
 #ifdef HAL_FLASH_MODULE_ENABLED
  #include "stm32f4xx_hal_flash.h"
 #endif /* HAL_FLASH_MODULE_ENABLED */
--- a/board/CubeMX_Config/Inc/stm32f4xx_it.h
+++ b/board/CubeMX_Config/Inc/stm32f4xx_it.h
@@ -6,7 +6,7 @@
  ******************************************************************************
  * @attention
  *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
--- a/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
+++ b/board/CubeMX_Config/Src/stm32f4xx_hal_msp.c
@@ -7,7 +7,7 @@
  ******************************************************************************
  * @attention
  *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
@@ -20,6 +20,7 @@

 /* Includes ------------------------------------------------------------------*/
 #include "main.h"
+
 /* USER CODE BEGIN Includes */

 /* USER CODE END Includes */
@@ -528,7 +529,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
    */
    GPIO_InitStruct.Pin = GPIO_PIN_9|GPIO_PIN_11;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
    HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
@@ -586,7 +587,7 @@ void HAL_TIM_IC_MspInit(TIM_HandleTypeDef* htim_ic)
    */
    GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_PULLDOWN;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
--- a/board/CubeMX_Config/Src/stm32f4xx_it.c
+++ b/board/CubeMX_Config/Src/stm32f4xx_it.c
@@ -6,7 +6,7 @@
  ******************************************************************************
  * @attention
  *
-  * Copyright (c) 2023 STMicroelectronics.
+  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
@@ -73,7 +73,7 @@ void NMI_Handler(void)
  /* USER CODE END NonMaskableInt_IRQn 0 */
  HAL_RCC_NMI_IRQHandler();
  /* USER CODE BEGIN NonMaskableInt_IRQn 1 */
-  while (1)
+   while (1)
  {
  }
  /* USER CODE END NonMaskableInt_IRQn 1 */
--- a/board/Kconfig
+++ b/board/Kconfig
@@ -317,6 +317,24 @@ menu "On-chip Peripheral Drivers"
                    default n
            endif

+        menuconfig BSP_USING_CAPTURE12
+            bool "Enable capture12"
+            default n
+            if BSP_USING_CAPTURE12
+                config BSP_USING_CAPTURE12_CH1
+                    bool "Enable capture12 channel1"
+                    default n
+                config BSP_USING_CAPTURE12_CH2
+                    bool "Enable capture12 channel2"
+                    default n
+                config BSP_USING_CAPTURE12_CH3
+                    bool "Enable capture12 channel3"
+                    default n
+                config BSP_USING_CAPTURE12_CH4
+                    bool "Enable capture12 channel4"
+                    default n
+            endif
+
        endif

    menuconfig BSP_USING_ADC
--- a/board/board.c
+++ b/board/board.c
@@ -84,9 +84,6 @@ static void reset_fc(int argc, char **argv)
    }

    rt_kprintf("\n the system will be reset after %ds\n", second);
-    rt_enter_critical();
-    rt_console_set_device(RT_NULL);
-    rt_exit_critical();
    rt_thread_delay(1000 * second);

    rt_hw_cpu_reset();
@@ -107,3 +104,6 @@ INIT_BOARD_EXPORT(stm32_adc_init);

 extern int stm32_capture_init(void);
 INIT_DEVICE_EXPORT(stm32_capture_init);
+
+extern int rt_wdt_init(void);
+INIT_BOARD_EXPORT(rt_wdt_init);
--- a/iap/iap.c
+++ b/iap/iap.c
@@ -123,6 +123,7 @@ rt_err_t port_rx_ind(rt_device_t dev, rt_size_t size)
 * 作用 & 说明
 * - 记录固件对应硬件 & 版本信息
 * - 简便起见，不包含校验信息
+ * - 允许 iap 升级不含 header 的普通固件
 *
 * index   len      desc
 *   0      4       'XYFC'
@@ -137,14 +138,14 @@ static int _check_head(const rt_uint8_t *buf, rt_size_t len)
 {
    if (len < 8)
    {
-        return -1;
+        return 0;
    }

    for (int i = 0; i < sizeof(FIXED_HEAD); i++)
    {
        if (FIXED_HEAD[i] != buf[i])
        {
-            return -2;
+            return 0;
        }
    }

@@ -394,11 +395,11 @@ static int _iap_entry(rt_bool_t is_boot)
    _response_cmd(IAP_V5_CMD_ONE_REPLY);

    rt_thread_mdelay(200);
-    if (!iap_v5_req_char(console_dev, &_wait, 'c', 1000))
-    {
-        err = RT_ENOSYS;
-        goto _exit;
-    }
+//    if (!iap_v5_req_char(console_dev, &_wait, 'c', 1000))
+//    {
+//        err = RT_ENOSYS;
+//        goto _exit;
+//    }

    _response_cmd(IAP_V5_CMD_C_REPLY);

@@ -409,6 +410,7 @@ static int _iap_entry(rt_bool_t is_boot)
        rt_kprintf("rt_malloc failed\n");
        goto _exit;
    }
+    ctx->parent.v5_iap_adapt = RT_TRUE;

    ctx->flash = fal_partition_find(IapAppAddr? IAP_FLASH_BOOT_SEC: IAP_FLASH_APP_SEC);
    if (ctx->flash == RT_NULL)
--- a/libraries/HAL_Drivers/drv_can.c
+++ b/libraries/HAL_Drivers/drv_can.c
@@ -51,7 +51,7 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 150)},
    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 300)}
 };
-#else  /* APB1 45MHz(max) */
+#else  /* APB1 50MHz(max) */
 static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 {
 #ifdef BSP_USING_CAN168M
@@ -59,14 +59,14 @@ static const struct stm32_baud_rate_tab can_baud_rate_tab[] =
 #else
    {CAN1MBaud, (CAN_SJW_2TQ | CAN_BS1_6TQ  | CAN_BS2_3TQ | 5)},
 #endif
-    {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
-    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 6)},
-    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 12)},
-    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 24)},
-    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 30)},
-    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 60)},
-    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 150)},
-    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_9TQ  | CAN_BS2_5TQ | 300)}
+    // {CAN800kBaud, (CAN_SJW_2TQ | CAN_BS1_8TQ  | CAN_BS2_5TQ | 4)},
+    {CAN500kBaud, (CAN_SJW_2TQ | CAN_BS1_6TQ  | CAN_BS2_3TQ | 10)},
+    {CAN250kBaud, (CAN_SJW_2TQ | CAN_BS1_6TQ  | CAN_BS2_3TQ | 20)},
+    {CAN125kBaud, (CAN_SJW_2TQ | CAN_BS1_4TQ  | CAN_BS2_3TQ | 50)},
+    {CAN100kBaud, (CAN_SJW_2TQ | CAN_BS1_3TQ  | CAN_BS2_6TQ | 50)},
+    {CAN50kBaud, (CAN_SJW_2TQ | CAN_BS1_1TQ  | CAN_BS2_3TQ | 200)},
+    {CAN20kBaud, (CAN_SJW_2TQ | CAN_BS1_3TQ  | CAN_BS2_6TQ | 250)},
+    {CAN10kBaud, (CAN_SJW_2TQ | CAN_BS1_12TQ  | CAN_BS2_7TQ | 250)}
 };
 #endif
 #elif defined (SOC_SERIES_STM32F7)/* APB1 54MHz(max) */
--- a/libraries/HAL_Drivers/drv_inputcapture.c
+++ b/libraries/HAL_Drivers/drv_inputcapture.c
@@ -28,6 +28,13 @@
    .timerx = 2, \
 }

+#define CAPTURE12_CONFIG \
+{ \
+    .timer.Instance = TIM12, \
+    .iqrn = TIM8_BRK_TIM12_IRQn, \
+    .timerx = 12, \
+}
+
 #define LOG_TAG "drv.tcap"
 #include <drv_log.h>

@@ -93,6 +100,12 @@ enum
 #ifdef BSP_USING_CAPTURE10
    CAPTURE10_INDEX,
 #endif
+#ifdef BSP_USING_CAPTURE11
+    CAPTURE11_INDEX,
+#endif
+#ifdef BSP_USING_CAPTURE12
+    CAPTURE12_INDEX,
+#endif
 };

 static struct stm32_capture stm32_capture_obj[] = 
@@ -127,6 +140,12 @@ static struct stm32_capture stm32_capture_obj[] =
 #ifdef BSP_USING_CAPTURE10
    CAPTURE10_CONFIG,
 #endif
+#ifdef BSP_USING_CAPTURE11
+    CAPTURE11_CONFIG,
+#endif
+#ifdef BSP_USING_CAPTURE12
+    CAPTURE12_CONFIG,
+#endif
 };

 struct stm32_capture_device
@@ -261,6 +280,12 @@ static struct stm32_capture_device stm32_capture_devices[] =
 #ifdef BSP_USING_CAPTURE10_CH4
    {{0}, &stm32_capture_obj[CAPTURE10_INDEX], 4, {0}},
 #endif
+#ifdef BSP_USING_CAPTURE12_CH1
+    {{0}, &stm32_capture_obj[CAPTURE12_INDEX], 1, {0}},
+#endif
+#ifdef BSP_USING_CAPTURE12_CH2
+    {{0}, &stm32_capture_obj[CAPTURE12_INDEX], 2, {0}},
+#endif
 };

 static rt_uint64_t get_timer_clock(TIM_HandleTypeDef *htim)
@@ -437,6 +462,15 @@ void TIM1_CC_IRQHandler(void)
    rt_interrupt_leave();
 }

+void TIM8_BRK_TIM12_IRQHandler(void)
+{
+    /* enter interrupt */
+    rt_interrupt_enter();
+    HAL_TIM_IRQHandler(&stm32_capture_obj[CAPTURE12_INDEX].timer);
+    /* leave interrupt */
+    rt_interrupt_leave();
+}
+
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
    int i = 0;
--- a/libraries/HAL_Drivers/drv_pwm.c
+++ b/libraries/HAL_Drivers/drv_pwm.c
@@ -264,14 +264,6 @@ static rt_err_t drv_pwm_get(TIM_HandleTypeDef *htim, struct rt_pwm_configuration
    rt_uint64_t tim_clock;

    tim_clock = tim_clock_get(htim);
-    if (__HAL_TIM_GET_CLOCKDIVISION(htim) == TIM_CLOCKDIVISION_DIV2)
-    {
-        tim_clock = tim_clock / 2;
-    }
-    else if (__HAL_TIM_GET_CLOCKDIVISION(htim) == TIM_CLOCKDIVISION_DIV4)
-    {
-        tim_clock = tim_clock / 4;
-    }

    /* Convert nanosecond to frequency and duty cycle. 1s = 1 * 1000 * 1000 * 1000 ns */
    tim_clock /= 1000000UL;
@@ -357,6 +349,7 @@ static rt_err_t drv_pwm_set_pulse(TIM_HandleTypeDef *htim, struct rt_pwm_configu
    tim_clock /= 1000000UL;

    period = (__HAL_TIM_GET_AUTORELOAD(htim) + 1) * (htim->Instance->PSC + 1) * 1000UL / tim_clock;
+    configuration->pulse = period - configuration->pulse; // 改为低电平有效，故需要计算一下低电平的脉宽
    pulse = (rt_uint64_t)configuration->pulse * (__HAL_TIM_GET_AUTORELOAD(htim) + 1) / period;

    if (pulse < MIN_PULSE)
@@ -452,7 +445,7 @@ static rt_err_t stm32_hw_pwm_init(struct stm32_pwm *device)

    oc_config.OCMode = TIM_OCMODE_PWM1;
    oc_config.Pulse = 0;
-    oc_config.OCPolarity = TIM_OCPOLARITY_HIGH;
+    oc_config.OCPolarity = TIM_OCPOLARITY_LOW;
    oc_config.OCFastMode = TIM_OCFAST_DISABLE;
    oc_config.OCNIdleState = TIM_OCNIDLESTATE_RESET;
    oc_config.OCIdleState  = TIM_OCIDLESTATE_RESET;
--- a/libraries/HAL_Drivers/drv_wdt.c
+++ b/libraries/HAL_Drivers/drv_wdt.c
@@ -126,6 +126,6 @@ int rt_wdt_init(void)
    LOG_D("wdt device register success.");
    return RT_EOK;
 }
-INIT_BOARD_EXPORT(rt_wdt_init);
+//INIT_BOARD_EXPORT(rt_wdt_init);

 #endif /* RT_USING_WDT */
--- a/project.uvoptx
+++ b/project.uvoptx
@@ -311,12 +311,12 @@
    <File>
      <GroupNumber>2</GroupNumber>
      <FileNumber>10</FileNumber>
-      <FileType>1</FileType>
+      <FileType>8</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt_init.c</PathWithFileName>
-      <FilenameWithoutPath>cxx_crt_init.c</FilenameWithoutPath>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt.cpp</PathWithFileName>
+      <FilenameWithoutPath>cxx_crt.cpp</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@@ -335,12 +335,12 @@
    <File>
      <GroupNumber>2</GroupNumber>
      <FileNumber>12</FileNumber>
-      <FileType>8</FileType>
+      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt.cpp</PathWithFileName>
-      <FilenameWithoutPath>cxx_crt.cpp</FilenameWithoutPath>
+      <PathWithFileName>rt-thread\components\libc\cplusplus\cxx_crt_init.c</PathWithFileName>
+      <FilenameWithoutPath>cxx_crt_init.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@@ -604,7 +604,7 @@

  <Group>
    <GroupName>Drivers</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@@ -740,6 +740,18 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
+    <File>
+      <GroupNumber>5</GroupNumber>
+      <FileNumber>44</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>libraries\HAL_Drivers\drv_wdt.c</PathWithFileName>
+      <FilenameWithoutPath>drv_wdt.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
  </Group>

  <Group>
@@ -748,18 +760,6 @@
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
-    <File>
-      <GroupNumber>6</GroupNumber>
-      <FileNumber>44</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>rt-thread\components\fal\src\fal_rtt.c</PathWithFileName>
-      <FilenameWithoutPath>fal_rtt.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
    <File>
      <GroupNumber>6</GroupNumber>
      <FileNumber>45</FileNumber>
@@ -791,6 +791,18 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
+      <PathWithFileName>rt-thread\components\fal\src\fal_rtt.c</PathWithFileName>
+      <FilenameWithoutPath>fal_rtt.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>6</GroupNumber>
+      <FileNumber>48</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
      <PathWithFileName>rt-thread\components\fal\src\fal.c</PathWithFileName>
      <FilenameWithoutPath>fal.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
@@ -806,7 +818,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>49</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -818,7 +830,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>50</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -830,7 +842,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>51</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -842,7 +854,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>52</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -862,7 +874,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>8</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>53</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -876,13 +888,13 @@

  <Group>
    <GroupName>Kernel</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>54</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -894,7 +906,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>55</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -906,7 +918,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>56</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -918,7 +930,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>57</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -930,7 +942,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>58</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -942,7 +954,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>59</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -954,7 +966,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>60</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -966,7 +978,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>61</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -978,7 +990,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>62</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -990,7 +1002,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>63</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1002,7 +1014,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>64</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1014,7 +1026,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>65</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1026,7 +1038,7 @@
    </File>
    <File>
      <GroupNumber>9</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>66</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1046,7 +1058,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>67</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1058,7 +1070,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>68</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1070,7 +1082,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>69</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1082,7 +1094,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>70</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1094,7 +1106,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>71</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1106,7 +1118,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>72</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1118,7 +1130,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>73</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1130,7 +1142,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>73</FileNumber>
+      <FileNumber>74</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1142,7 +1154,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>74</FileNumber>
+      <FileNumber>75</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1154,7 +1166,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>75</FileNumber>
+      <FileNumber>76</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1166,7 +1178,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>76</FileNumber>
+      <FileNumber>77</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1178,7 +1190,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>77</FileNumber>
+      <FileNumber>78</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1190,7 +1202,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>78</FileNumber>
+      <FileNumber>79</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1202,7 +1214,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>79</FileNumber>
+      <FileNumber>80</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1214,7 +1226,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>80</FileNumber>
+      <FileNumber>81</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1226,7 +1238,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>81</FileNumber>
+      <FileNumber>82</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1238,7 +1250,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>82</FileNumber>
+      <FileNumber>83</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1250,7 +1262,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>83</FileNumber>
+      <FileNumber>84</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1262,7 +1274,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>84</FileNumber>
+      <FileNumber>85</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1274,7 +1286,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>86</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1286,7 +1298,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>86</FileNumber>
+      <FileNumber>87</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1298,7 +1310,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>88</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1310,7 +1322,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>89</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1322,7 +1334,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>90</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1334,7 +1346,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>91</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1346,7 +1358,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>92</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1358,7 +1370,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>93</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1370,7 +1382,7 @@
    </File>
    <File>
      <GroupNumber>10</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>94</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1390,7 +1402,7 @@
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>11</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>95</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1404,13 +1416,13 @@

  <Group>
    <GroupName>Utilities</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
    <File>
      <GroupNumber>12</GroupNumber>
-      <FileNumber>95</FileNumber>
+      <FileNumber>96</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1422,7 +1434,7 @@
    </File>
    <File>
      <GroupNumber>12</GroupNumber>
-      <FileNumber>96</FileNumber>
+      <FileNumber>97</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@@ -1434,7 +1446,7 @@
    </File>
    <File>
      <GroupNumber>12</GroupNumber>
-      <FileNumber>97</FileNumber>
+      <FileNumber>98</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
--- a/project.uvprojx
+++ b/project.uvprojx
@@ -434,9 +434,9 @@
              <FilePath>rt-thread\components\libc\cplusplus\cxx_Thread.cpp</FilePath>
            </File>
            <File>
-              <FileName>cxx_crt_init.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt_init.c</FilePath>
+              <FileName>cxx_crt.cpp</FileName>
+              <FileType>8</FileType>
+              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt.cpp</FilePath>
            </File>
            <File>
              <FileName>cxx_Mutex.cpp</FileName>
@@ -444,9 +444,9 @@
              <FilePath>rt-thread\components\libc\cplusplus\cxx_Mutex.cpp</FilePath>
            </File>
            <File>
-              <FileName>cxx_crt.cpp</FileName>
-              <FileType>8</FileType>
-              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt.cpp</FilePath>
+              <FileName>cxx_crt_init.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\libc\cplusplus\cxx_crt_init.c</FilePath>
            </File>
            <File>
              <FileName>cxx_Semaphore.cpp</FileName>
@@ -618,16 +618,16 @@
              <FileType>1</FileType>
              <FilePath>libraries\HAL_Drivers\drv_usart.c</FilePath>
            </File>
+            <File>
+              <FileName>drv_wdt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>libraries\HAL_Drivers\drv_wdt.c</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
          <GroupName>Fal</GroupName>
          <Files>
-            <File>
-              <FileName>fal_rtt.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>rt-thread\components\fal\src\fal_rtt.c</FilePath>
-            </File>
            <File>
              <FileName>fal_partition.c</FileName>
              <FileType>1</FileType>
@@ -638,6 +638,11 @@
              <FileType>1</FileType>
              <FilePath>rt-thread\components\fal\src\fal_flash.c</FilePath>
            </File>
+            <File>
+              <FileName>fal_rtt.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>rt-thread\components\fal\src\fal_rtt.c</FilePath>
+            </File>
            <File>
              <FileName>fal.c</FileName>
              <FileType>1</FileType>
--- a/rt-thread/components/drivers/misc/rt_inputcapture.c
+++ b/rt-thread/components/drivers/misc/rt_inputcapture.c
@@ -189,6 +189,6 @@ void rt_hw_inputcapture_isr(struct rt_inputcapture_device *inputcapture, rt_bool
    {
        /* indicate to upper layer application */
        if (inputcapture->parent.rx_indicate != RT_NULL)
-            inputcapture->parent.rx_indicate(&inputcapture->parent, receive_size);
+            inputcapture->parent.rx_indicate(&inputcapture->parent, data.is_high);
    }
 }
--- a/rt-thread/components/utilities/ulog/ulog.c
+++ b/rt-thread/components/utilities/ulog/ulog.c
@@ -663,7 +663,7 @@ void elog_output(uint8_t level, const char *tag, const char *file, const char *f
 {
    va_list args;
    static char line_buffer[256] = {0};
-    rt_snprintf(line_buffer, sizeof(line_buffer), "[%s:%s:%d] %s", file, func, line, format);
+    rt_snprintf(line_buffer, sizeof(line_buffer), "%s", format);

    /* args point to the first variable parameter */
    va_start(args, format);
--- a/rt-thread/components/utilities/ymodem/SConscript
+++ b/rt-thread/components/utilities/ymodem/SConscript
@@ -4,7 +4,7 @@ cwd     = GetCurrentDir()
 src     = Split('''
 ymodem.c
 ''')
- 
+
 CPPPATH = [cwd]

 if GetDepend('YMODEM_USING_FILE_TRANSFER'):
--- a/rt-thread/components/utilities/ymodem/ry_sy.c
+++ b/rt-thread/components/utilities/ymodem/ry_sy.c
@@ -30,6 +30,16 @@ struct custom_ctx
    char fpath[DFS_PATH_MAX];
 };

+static const char *_get_path_lastname(const char *path)
+{
+    char *ptr;
+    if ((ptr = (char *)strrchr(path, '/')) == NULL)
+        return path;
+
+    /* skip the '/' then return */
+    return ++ptr;
+}
+
 static enum rym_code _rym_recv_begin(
    struct rym_ctx *ctx,
    rt_uint8_t *buf,
@@ -125,7 +135,18 @@ static enum rym_code _rym_send_begin(
        rt_kprintf("error open file.\n");
        return RYM_ERR_FILE;
    }
-    rt_sprintf((char *)buf, "%s%c%d", (char *) & (cctx->fpath[1]), insert_0, file_buf.st_size);
+
+    const char *fdst = _get_path_lastname(cctx->fpath);
+    if(fdst != cctx->fpath)
+    {
+        fdst = dfs_normalize_path(RT_NULL, fdst);
+        if (fdst == RT_NULL)
+        {
+            return RYM_ERR_FILE;
+        }
+    }
+
+    rt_sprintf((char *)buf, "%s%c%d", fdst, insert_0, file_buf.st_size);

    return RYM_CODE_SOH;
 }
@@ -153,6 +174,10 @@ static enum rym_code _rym_send_data(
        ctx->stage = RYM_STAGE_FINISHING;
    }

+    if (read_size > 128)
+    {
+        return RYM_CODE_STX;
+    }
    return RYM_CODE_SOH;
 }

@@ -174,7 +199,7 @@ static rt_err_t rym_download_file(rt_device_t idev,const char *file_path)
    if (!ctx)
    {
        rt_kprintf("rt_malloc failed\n");
-        return RT_ENOMEM;
+        return -RT_ENOMEM;
    }
    ctx->fd = -1;
    rt_strncpy(ctx->fpath, file_path, DFS_PATH_MAX);
@@ -194,7 +219,7 @@ static rt_err_t rym_upload_file(rt_device_t idev, const char *file_path)
    if (!ctx)
    {
        rt_kprintf("rt_malloc failed\n");
-        return RT_ENOMEM;
+        return -RT_ENOMEM;
    }
    ctx->fd = -1;
    rt_strncpy(ctx->fpath, file_path, DFS_PATH_MAX);
--- a/rt-thread/components/utilities/ymodem/ry_sy.h
+++ b/rt-thread/components/utilities/ymodem/ry_sy.h
@@ -0,0 +1,17 @@
+#ifndef __RY_SY_H__
+#define __RY_SY_H__
+
+#include "dfs.h"
+#include "ymodem.h"
+
+struct rym_file_ctx
+{
+    struct rym_ctx parent;
+    int fd;
+    int flen;
+    char fpath[DFS_PATH_MAX];
+};
+
+rt_err_t rym_download_file(rt_device_t idev, struct rym_file_ctx *ctx, rt_bool_t v5_adapt);
+
+#endif
--- a/rt-thread/components/utilities/ymodem/ymodem.c
+++ b/rt-thread/components/utilities/ymodem/ymodem.c
@@ -1,5 +1,5 @@
 /*
- * COPYRIGHT (C) 2011-2021, Real-Thread Information Technology Ltd
+ * COPYRIGHT (C) 2011-2023, Real-Thread Information Technology Ltd
 * All rights reserved
 *
 * SPDX-License-Identifier: Apache-2.0
@@ -121,7 +121,7 @@ static enum rym_code _rym_read_code(
 }

 /* the caller should at least alloc _RYM_STX_PKG_SZ buffer */
-static rt_size_t _rym_read_data(
+static rt_ssize_t _rym_read_data(
    struct rym_ctx *ctx,
    rt_size_t len)
 {
@@ -149,31 +149,44 @@ static rt_err_t _rym_send_packet(
    rt_uint16_t send_crc;
    rt_uint8_t index_inv = ~index;
    rt_size_t writelen = 0;
+    rt_size_t packetlen = 0;

-    send_crc = CRC16(ctx->buf + 3, _RYM_SOH_PKG_SZ - 5);
+    switch(code)
+    {
+    case RYM_CODE_SOH:
+        packetlen = _RYM_SOH_PKG_SZ;
+        break;
+    case RYM_CODE_STX:
+        packetlen = _RYM_STX_PKG_SZ;
+        break;
+    default:
+        return -RT_ERROR;
+    }
+
+    send_crc = CRC16(ctx->buf + 3, packetlen - 5);
    ctx->buf[0] = code;
    ctx->buf[1] = index;
    ctx->buf[2] = index_inv;
-    ctx->buf[131] = (rt_uint8_t)(send_crc >> 8);
-    ctx->buf[132] = (rt_uint8_t)send_crc & 0xff;
+    ctx->buf[packetlen - 2] = (rt_uint8_t)(send_crc >> 8);
+    ctx->buf[packetlen - 1] = (rt_uint8_t)send_crc & 0xff;

    do
    {
        writelen += rt_device_write(ctx->dev, 0, ctx->buf + writelen,
-                                    _RYM_SOH_PKG_SZ - writelen);
+                packetlen - writelen);
    }
-    while (writelen < _RYM_SOH_PKG_SZ);
+    while (writelen < packetlen);

    return RT_EOK;
 }

-static rt_size_t _rym_putchar(struct rym_ctx *ctx, rt_uint8_t code)
+static rt_ssize_t _rym_putchar(struct rym_ctx *ctx, rt_uint8_t code)
 {
    rt_device_write(ctx->dev, 0, &code, sizeof(code));
    return 1;
 }

-static rt_size_t _rym_getchar(struct rym_ctx *ctx)
+static rt_ssize_t _rym_getchar(struct rym_ctx *ctx)
 {
    rt_uint8_t getc_ack;

@@ -276,7 +289,9 @@ static rt_err_t _rym_do_send_handshake(

    /* congratulations, check passed. */
    if (ctx->on_begin && ctx->on_begin(ctx, ctx->buf + 3, data_sz - 5) != RYM_CODE_SOH)
+    {
        return -RYM_ERR_CODE;
+    }

    code = RYM_CODE_SOH;
    _rym_send_packet(ctx, code, index);
@@ -349,6 +364,7 @@ static rt_err_t _rym_do_trans(struct rym_ctx *ctx)
    _rym_putchar(ctx, RYM_CODE_ACK);
    _rym_putchar(ctx, RYM_CODE_C);
    ctx->stage = RYM_STAGE_ESTABLISHED;
+    rt_size_t errors = 0;

    while (1)
    {
@@ -360,36 +376,61 @@ static rt_err_t _rym_do_trans(struct rym_ctx *ctx)
                              RYM_WAIT_PKG_TICK);
        switch (code)
        {
-        case RYM_CODE_SOH:
-            data_sz = 128;
-            break;
-        case RYM_CODE_STX:
-            data_sz = 1024;
-            break;
-        case RYM_CODE_EOT:
-            return RT_EOK;
-        default:
-            return -RYM_ERR_CODE;
+            case RYM_CODE_SOH:
+                data_sz = 128;
+                break;
+            case RYM_CODE_STX:
+                data_sz = 1024;
+                break;
+            case RYM_CODE_EOT:
+                return RT_EOK;
+            default:
+                errors++;
+                if(errors > RYM_MAX_ERRORS)
+                {
+                    return -RYM_ERR_CODE;/* Abort communication */
+                }
+                else
+                {
+                    _rym_putchar(ctx, RYM_CODE_NAK);/* Ask for a packet */
+                    continue;
+                }
        };

        err = _rym_trans_data(ctx, data_sz, &code);
        if (err != RT_EOK)
-            return err;
+        {
+            errors++;
+            if(errors > RYM_MAX_ERRORS)
+            {
+                return err;/* Abort communication */
+            }
+            else
+            {
+                _rym_putchar(ctx, RYM_CODE_NAK);/* Ask for a packet */
+                continue;
+            }
+        }
+        else
+        {
+            errors = 0;
+        }
+
        switch (code)
        {
-        case RYM_CODE_CAN:
-            /* the spec require multiple CAN */
-            for (i = 0; i < RYM_END_SESSION_SEND_CAN_NUM; i++)
-            {
-                _rym_putchar(ctx, RYM_CODE_CAN);
-            }
-            return -RYM_ERR_CAN;
-        case RYM_CODE_ACK:
-            _rym_putchar(ctx, RYM_CODE_ACK);
-            break;
-        default:
-            // wrong code
-            break;
+            case RYM_CODE_CAN:
+                /* the spec require multiple CAN */
+                for (i = 0; i < RYM_END_SESSION_SEND_CAN_NUM; i++)
+                {
+                    _rym_putchar(ctx, RYM_CODE_CAN);
+                }
+                return -RYM_ERR_CAN;
+            case RYM_CODE_ACK:
+                _rym_putchar(ctx, RYM_CODE_ACK);
+                break;
+            default:
+                // wrong code
+                break;
        };
    }
 }
@@ -402,21 +443,20 @@ static rt_err_t _rym_do_send_trans(struct rym_ctx *ctx)
    rt_uint32_t index = 1;
    rt_uint8_t getc_ack;

-    data_sz = _RYM_SOH_PKG_SZ;
-
+    data_sz = _RYM_STX_PKG_SZ;
    while (1)
    {
-        if (ctx->on_data && ctx->on_data(ctx, ctx->buf + 3, data_sz - 5) != RYM_CODE_SOH)
+        if (!ctx->on_data)
+        {
            return -RYM_ERR_CODE;
-
-        code = RYM_CODE_SOH;
+        }
+        code = ctx->on_data(ctx, ctx->buf + 3, data_sz - 5);

        _rym_send_packet(ctx, code, index);
        index++;
        rt_device_set_rx_indicate(ctx->dev, _rym_rx_ind);

        getc_ack = _rym_getchar(ctx);
-
        if (getc_ack != RYM_CODE_ACK)
        {
            return -RYM_ERR_ACK;
@@ -429,6 +469,8 @@ static rt_err_t _rym_do_send_trans(struct rym_ctx *ctx)
    return RT_EOK;
 }

+// 发送EOT，飞控回复ACK和'C'，然后发送SOH空数据，然后回复ACK，然后等待飞控下发B5,5B,03,BB表示升级成功
+
 static rt_err_t _rym_do_fin(struct rym_ctx *ctx)
 {
    enum rym_code code;
@@ -442,10 +484,15 @@ static rt_err_t _rym_do_fin(struct rym_ctx *ctx)
    if (ctx->on_end)
        ctx->on_end(ctx, ctx->buf + 3, 128);

-    _rym_putchar(ctx, RYM_CODE_NAK);
-    code = _rym_read_code(ctx, RYM_WAIT_PKG_TICK);
-    if (code != RYM_CODE_EOT)
-        return -RYM_ERR_CODE;
+    if (!ctx->v5_iap_adapt) 
+    {
+        _rym_putchar(ctx, RYM_CODE_NAK);
+        code = _rym_read_code(ctx, RYM_WAIT_PKG_TICK);
+        if (code != RYM_CODE_EOT)
+        {
+            return -RYM_ERR_CODE;
+        }
+    }

    _rym_putchar(ctx, RYM_CODE_ACK);
    _rym_putchar(ctx, RYM_CODE_C);
@@ -460,7 +507,9 @@ static rt_err_t _rym_do_fin(struct rym_ctx *ctx)
        data_sz = _RYM_STX_PKG_SZ;
    }
    else
+    {
        return -RYM_ERR_CODE;
+    }

    i = _rym_read_data(ctx, _RYM_SOH_PKG_SZ - 1);
    if (i != (_RYM_SOH_PKG_SZ - 1))
@@ -558,11 +607,6 @@ static rt_err_t _rym_do_recv(
    while (1)
    {
        err = _rym_do_trans(ctx);
-        if (err != RT_EOK)
-        {
-            rt_free(ctx->buf);
-            return err;
-        }

        err = _rym_do_fin(ctx);
        if (err != RT_EOK)
@@ -669,6 +713,11 @@ __exit:

    _rym_the_ctx = RT_NULL;

+    if (res != RT_EOK)
+    {
+        rt_kprintf("rym_recv_on_device err: %d\n", res);
+    }
+
    return res;
 }

--- a/rt-thread/components/utilities/ymodem/ymodem.h
+++ b/rt-thread/components/utilities/ymodem/ymodem.h
@@ -58,6 +58,11 @@ enum rym_code
 #define RYM_END_SESSION_SEND_CAN_NUM  0x07
 #endif

+/* how many retries were made when the error occurred */
+#ifndef RYM_MAX_ERRORS
+#define RYM_MAX_ERRORS    ((rt_size_t)20)
+#endif
+
 enum rym_stage
 {
    RYM_STAGE_NONE = 0,
@@ -105,6 +110,16 @@ struct rym_ctx
    struct rt_semaphore sem;

    rt_device_t dev;
+
+    /**
+     * @brief 适配 v5 iap 升级逻辑, 流程如下:
+     *
+     * 收到 EOT 后返回 ACT 'C';
+     * 收到一包空数据后返回 ACT, 正常结束 IAP
+     * 逻辑.
+     *
+     */
+    rt_bool_t v5_iap_adapt;
 };

 /* recv a file on device dev with ymodem session ctx.
--- a/rtconfig.h
+++ b/rtconfig.h
@@ -38,6 +38,7 @@
 #define RT_USING_MEMPOOL
 #define RT_USING_SMALL_MEM
 #define RT_USING_SMALL_MEM_AS_HEAP
+#define RT_USING_MEMTRACE
 #define RT_USING_HEAP

 /* Kernel Device Object */
@@ -45,7 +46,7 @@
 #define RT_USING_DEVICE
 #define RT_USING_CONSOLE
 #define RT_CONSOLEBUF_SIZE 256
-#define RT_CONSOLE_DEVICE_NAME "uart4"
+#define RT_CONSOLE_DEVICE_NAME "uart8"
 #define RT_VER_NUM 0x50000
 #define ARCH_ARM
 #define RT_USING_CPU_FFS
@@ -170,9 +171,6 @@
 /* u8g2: a monochrome graphic library */


-/* PainterEngine: A cross-platform graphics application framework written in C language */
-
-
 /* tools packages */


@@ -222,7 +220,7 @@
 /* Arduino libraries */


-/* Projects */
+/* Projects and Demos */


 /* Sensors */
@@ -247,6 +245,7 @@

 /* Other */

+
 /* Signal IO */


@@ -313,8 +312,12 @@
 #define BSP_USING_CAPTURE2
 #define BSP_USING_CAPTURE2_CH3
 #define BSP_USING_CAPTURE2_CH4
+#define BSP_USING_CAPTURE12
+#define BSP_USING_CAPTURE12_CH1
+#define BSP_USING_CAPTURE12_CH2
 #define BSP_USING_ADC
 #define BSP_USING_ADC1
+#define BSP_USING_WDT
 #define BSP_USING_ON_CHIP_FLASH

 /* Board extended module Drivers */
Author	SHA1	Message	Date
a1012112796	9e281ac636	启用 MEMTRACE Signed-off-by: a1012112796 <1012112796@qq.com>	2024-05-21 11:29:25 +08:00
a1012112796	4c94f53f69	添加看门狗驱动 Signed-off-by: a1012112796 <1012112796@qq.com>	2024-05-15 20:04:04 +08:00
a1012112796	64c191ce47	修正 reset_fc 的逻辑 Signed-off-by: a1012112796 <1012112796@qq.com>	2024-01-25 09:09:43 +08:00
a1012112796	12dbf59150	pwm 驱动优化实测发现, 改为低电平作为有效电平后，输出脉宽更准确一些，故作此修改。另外移除了一段无效代码逻辑，降低理解负担。 Signed-off-by: a1012112796 <1012112796@qq.com>	2024-01-24 13:55:07 +08:00
a1012112796	32d8112577	iap 优化，避免 v8 升级失败 Signed-off-by: a1012112796 <1012112796@qq.com>	2023-12-08 08:42:05 +08:00
a1012112796	1830fad2a7	简化 log Signed-off-by: a1012112796 <1012112796@qq.com>	2023-12-06 10:31:11 +08:00
a1012112796	4a3d864e8a	修正 can 参数 Signed-off-by: a1012112796 <1012112796@qq.com>	2023-12-01 11:30:53 +08:00
a1012112796	424fbe755c	Merge branch 'zzc/dev/param_cfg' into main_f413 * zzc/dev/param_cfg: 核算can 波特率	2023-11-30 17:34:27 +08:00
a1012112796	130297f5ec	核算can 波特率 Signed-off-by: a1012112796 <1012112796@qq.com>	2023-11-30 17:17:08 +08:00
HWJ	ec738f7452	Merge remote-tracking branch 'remotes/origin/zzc/dev/param_cfg' into main_f413	2023-08-01 17:21:31 +08:00
a1012112796	716843e921	允许 iap 升级不含 header 的普通固件 Signed-off-by: a1012112796 <1012112796@qq.com>	2023-08-01 10:22:00 +08:00
a1012112796	a4d8cf1511	console 口改为 uart8 Signed-off-by: a1012112796 <1012112796@qq.com>	2023-07-25 19:00:26 +08:00
HWJ	b8fa9e69cd	更新工程文件	2023-07-25 16:07:51 +08:00
a1012112796	383f0b8021	输入捕获驱动补充 TIM12 定义 Signed-off-by: a1012112796 <1012112796@qq.com>	2023-06-12 17:27:49 +08:00