shoot

CMakeLists.txt

@@ -70,6 +70,11 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/motor.c
     User/device/motor_rm.c
 
+    # User/module sources
+    User/module/config.c
+    User/module/gimbal.c
+    User/module/shoot.c
+
     # User/task sources
     User/task/ai.c
     User/task/atti_esti.c

User/bsp/bsp_config.yaml

@@ -128,7 +128,7 @@ uart:
   - instance: USART6
     name: AI
   - instance: USART1
-    name: DR16
-  - instance: USART3
     name: REF
+  - instance: USART3
+    name: DR16
   enabled: true

User/bsp/uart.c

@@ -26,9 +26,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
   if (huart->Instance == USART6)
     return BSP_UART_AI;
   else if (huart->Instance == USART1)
-    return BSP_UART_DR16;
-  else if (huart->Instance == USART3)
     return BSP_UART_REF;
+  else if (huart->Instance == USART3)
+    return BSP_UART_DR16;
   else
     return BSP_UART_ERR;
 }
@@ -119,9 +119,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
   switch (uart) {
     case BSP_UART_AI:
       return &huart6;
-    case BSP_UART_DR16:
-      return &huart1;
     case BSP_UART_REF:
+      return &huart1;
+    case BSP_UART_DR16:
       return &huart3;
     default:
       return NULL;

User/bsp/uart.h

@@ -28,8 +28,8 @@ extern "C" {
 /* UART实体枚举，与设备对应 */
 typedef enum {
   BSP_UART_AI,
-  BSP_UART_DR16,
   BSP_UART_REF,
+  BSP_UART_DR16,
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;

User/module/config.c

@@ -0,0 +1,54 @@
+/*
+ * 配置相关
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "module/config.h"
+#include "bsp/can.h"
+#include "device/motor_rm.h"
+#include "component/pid.h"
+#include "component/user_math.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* Exported variables ------------------------------------------------------- */
+
+// 机器人参数配置
+Config_RobotParam_t robot_config = {
+    .shoot_param = {
+        .trig_motor_param = {
+            .can = BSP_CAN_1,
+            .id = 0x201,
+            .module = MOTOR_M2006,
+            .reverse = false,
+            .gear = true,
+        },
+        .trig_pid_param = {
+            .k = 12.0f,
+            .p = 1.0f,
+            .i = 0.0f,
+            .d = 0.0450000018f,
+            .i_limit = 1.0f,
+            .out_limit = 1.0f,
+            .d_cutoff_freq = -1.0f,
+            .range = M_2PI,
+            },
+        .num_trig_tooth = 8.0f,
+        .fric_radius = 0.03f,
+        .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
+    }
+};
+
+/* Private function prototypes ---------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void) {
+    return &robot_config;
+}

User/module/config.h

@@ -0,0 +1,30 @@
+/*
+ * 配置相关
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include "module/shoot.h"
+#include "module/gimbal.h"
+
+
+typedef struct {
+    Shoot_Params_t shoot_param; /* 射击参数 */
+} Config_RobotParam_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void);
+
+#ifdef __cplusplus
+}
+#endif

User/module/shoot.c

@@ -0,0 +1,201 @@
+/*
+ * 射击模组
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "shoot.h"
+
+#include "bsp/pwm.h"
+#include "bsp/time.h"
+#include "bsp/can.h"
+#include "component/pid.h"
+#include "component/limiter.h"
+#include "component/user_math.h"
+#include "device/motor_rm.h"
+#include <stdint.h>
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+
+#define BULLET_SPEED_LIMIT_17MM (25.0)
+
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+
+/**
+ * \brief 设置射击模式
+ *
+ * \param c 包含射击数据的结构体
+ * \param mode 要设置的模式
+ *
+ * \return 函数运行结果
+ */
+static int8_t Shoot_SetMode(Shoot_t *s, CMD_ShootMode_t mode) {
+  if (s == NULL) return -1;
+
+  if (mode == s->mode) return SHOOT_OK;
+
+  /* 切换模式后重置PID和滤波器 */
+//   for (uint8_t i = 0; i < 2; i++) {
+//     PID_Reset(s->pid.fric + i);
+//     LowPassFilter2p_Reset(s->filter.in.fric + i, 0.0f);
+//     LowPassFilter2p_Reset(s->filter.out.fric + i, 0.0f);
+//   }
+//   PID_Reset(&(s->pid.trig));
+//   LowPassFilter2p_Reset(&(s->filter.in.trig), 0.0f);
+//   LowPassFilter2p_Reset(&(s->filter.out.trig), 0.0f);
+    PID_Reset(&(s->pid.fric[0]));
+    PID_Reset(&(s->pid.fric[1]));
+    LowPassFilter2p_Reset(&(s->filter.in.fric[0]), 0.0f);
+    LowPassFilter2p_Reset(&(s->filter.in.fric[1]), 0.0f);
+    LowPassFilter2p_Reset(&(s->filter.out.fric[0]), 0.0f);
+    LowPassFilter2p_Reset(&(s->filter.out.fric[1]), 0.0f);
+    PID_Reset(&(s->pid.trig));
+    LowPassFilter2p_Reset(&(s->filter.in.trig), 0.0f);
+    LowPassFilter2p_Reset(&(s->filter.out.trig), 0.0f);
+
+//   while (fabsf(CircleError(s->setpoint.trig_angle, s->feedback.trig_angle,
+//                            M_2PI)) >= M_2PI / s->param->num_trig_tooth / 2.0f) {
+//     CircleAdd(&(s->setpoint.trig_angle), M_2PI / s->param->num_trig_tooth,
+//               M_2PI);
+//   }
+
+  if (mode == SHOOT_MODE_LOADED) s->fire_ctrl.to_shoot = 0;
+  s->mode = mode;
+  return 0;
+}
+
+// static float Shoot_CalcRPMFromSpeed(float speed, float radius, float *rpm) {
+//   if (rpm == NULL) return -1;
+//   if (radius <= 0.0f) return -2;
+
+//   /* 限制弹丸速度 */
+//   speed = Limit_Abs(speed, BULLET_SPEED_LIMIT_17MM);
+
+//   /* 计算转速 */
+//   *rpm = speed / (2.0f * M_PI * radius) * 60.0f;
+
+//   return 0;
+// }
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化射击
+ *
+ * \param s 包含射击数据的结构体
+ * \param param 包含射击参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq) {
+  if (s == NULL) return -1;
+
+  s->param = param;           /* 初始化参数 */
+  s->mode = SHOOT_MODE_RELAX; /* 设置默认模式 */
+
+  PID_Init(&(s->pid.fric[0]), KPID_MODE_NO_D, target_freq,
+           &(param->fric_pid_param));
+  PID_Init(&(s->pid.fric[1]), KPID_MODE_NO_D, target_freq,
+           &(param->fric_pid_param));
+  PID_Init(&(s->pid.trig), KPID_MODE_CALC_D, target_freq,
+           &(param->trig_pid_param));  
+
+    LowPassFilter2p_Init(&(s->filter.in.fric[0]), target_freq,
+                         param->low_pass_cutoff_freq.in.fric);      
+    LowPassFilter2p_Init(&(s->filter.in.fric[1]), target_freq,
+                         param->low_pass_cutoff_freq.in.fric);      
+    LowPassFilter2p_Init(&(s->filter.out.fric[0]), target_freq,
+                         param->low_pass_cutoff_freq.out.fric);      
+    LowPassFilter2p_Init(&(s->filter.out.fric[1]), target_freq,
+                         param->low_pass_cutoff_freq.out.fric);      
+    LowPassFilter2p_Init(&(s->filter.in.trig), target_freq,
+                         param->low_pass_cutoff_freq.in.trig);
+    LowPassFilter2p_Init(&(s->filter.out.trig), target_freq,
+                         param->low_pass_cutoff_freq.out.trig);
+
+    BSP_CAN_Init();
+    MOTOR_RM_Register(s->param->fric_motor_param[0]);
+    MOTOR_RM_Register(s->param->fric_motor_param[1]);
+    MOTOR_RM_Register(s->param->trig_motor_param);
+
+  return SHOOT_OK;
+}
+
+/**
+ * \brief 更新射击的反馈信息
+ *
+ * \param s 包含射击数据的结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_UpdateFeedback(Shoot_t *s) {
+  if (s == NULL) return -1;
+    MOTOR_RM_Update(s->param->fric_motor_param[0]);
+    MOTOR_RM_Update(s->param->fric_motor_param[1]);
+    MOTOR_RM_Update(s->param->trig_motor_param);
+
+    MOTOR_RM_t *motor;
+    motor = MOTOR_RM_GetMotor(s->param->fric_motor_param[0]);
+    s->feedback.fric[0] = motor->feedback;
+    motor = MOTOR_RM_GetMotor(s->param->fric_motor_param[1]);
+    s->feedback.fric[1] = motor->feedback;
+    motor = MOTOR_RM_GetMotor(s->param->trig_motor_param);
+    s->feedback.trig = motor->feedback;
+
+  return SHOOT_OK;
+}
+
+/**
+ * \brief 运行射击控制逻辑
+ *
+ * \param s 包含射击数据的结构体
+ * \param s_cmd 射击控制指令
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *s_cmd) {
+  if (s == NULL) return -1;
+  if (s_cmd == NULL) return -1;
+
+  Shoot_SetMode(s, s_cmd->mode); /* 设置射击模式 */
+
+  /* 计算摩擦轮转速的目标值 */
+  // 根据弹丸射速计算转速，这里需要实现具体的计算逻辑
+  // s->setpoint.fric_rpm[0] = calculate_rpm_from_speed(s_cmd->bullet_speed);
+  // s->setpoint.fric_rpm[1] = -s->setpoint.fric_rpm[0];
+
+  switch (s->mode) {
+    case SHOOT_MODE_RELAX:
+      MOTOR_RM_SetOutput(s->param->fric_motor_param[0], 0.0f);
+      MOTOR_RM_SetOutput(s->param->fric_motor_param[1], 0.0f);
+      MOTOR_RM_SetOutput(s->param->trig_motor_param, 0.0f);
+      break;
+    case SHOOT_MODE_SAFE:
+    /*摩擦轮速度环到0，拨弹位置环到设定位置*/
+        s->setpoint.fric_rpm[0] = 0.0f;
+        s->setpoint.fric_rpm[1] = 0.0f;
+
+
+      
+      break;
+      
+    case SHOOT_MODE_LOADED:
+      // TODO: 实现上膛模式的控制逻辑
+      break;
+  }
+  return SHOOT_OK;
+}
+
+/**
+ * \brief 射击输出值
+ *
+ * \param s 包含射击数据的结构体
+ */
+void Shoot_Output(Shoot_t *s) {
+  if (s == NULL) return;
+  MOTOR_RM_Ctrl(s->param->fric_motor_param[0]);
+}
+
+

User/module/shoot.h

@@ -0,0 +1,176 @@
+/*
+ * 射击模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <cmsis_os2.h>
+
+#include "component/filter.h"
+#include "component/pid.h"
+#include "device/motor_rm.h"
+#include "device/motor.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define SHOOT_OK (0)        /* 运行正常 */
+#define SHOOT_ERR (-1)      /* 运行时发现了其他错误 */
+#define SHOOT_ERR_NULL (-2) /* 运行时发现NULL指针 */
+#define SHOOT_ERR_MODE (-3) /* 运行时配置了错误的CMD_ShootMode_t */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+typedef enum {
+    SHOOT_MODE_RELAX = 0, /* 放松模式，电机不工作 */
+    SHOOT_MODE_SAFE = 1,  /* 安全模式，电机工作但不允许射击 */
+    SHOOT_MODE_LOADED = 2 /* 上膛模式，电机工作并允许射击 */
+}Shoot_Mode_t;
+
+typedef struct {
+    Shoot_Mode_t mode; /*射击模式*/
+    float bullet_speed; /*弹丸射速*/
+    uint32_t bullet_num; /*要发射的弹丸数*/
+}Shoot_CMD_t;
+
+/* 射击参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
+typedef struct {
+    MOTOR_RM_Param_t fric_motor_param[2]; /* 摩擦轮电机参数 */
+    MOTOR_RM_Param_t trig_motor_param; /* 拨弹电机参数 */
+
+
+  KPID_Params_t fric_pid_param; /* 摩擦轮电机控制PID的参数 */
+  KPID_Params_t trig_pid_param; /* 扳机电机控制PID的参数 */
+  /* 低通滤波器截止频率 */
+  struct {
+    /* 输入 */
+    struct {
+      float fric; /* 摩擦轮电机 */
+      float trig; /* 扳机电机 */
+    } in;
+
+    /* 输出 */
+    struct {
+      float fric; /* 摩擦轮电机 */
+      float trig; /* 扳机电机 */
+    } out;
+  } low_pass_cutoff_freq;
+
+  float num_trig_tooth;   /* 拨弹盘中一圈能存储几颗弹丸 */
+  float fric_radius;      /* 摩擦轮半径，单位：米 */
+  float cover_open_duty;  /* 弹舱盖打开时舵机PWM占空比 */
+  float cover_close_duty; /* 弹舱盖关闭时舵机PWM占空比 */
+  float bullet_speed;     /* 弹丸初速度 */
+  uint32_t min_shoot_delay; /* 通过设置最小射击间隔来设置最大射频 */
+} Shoot_Params_t;
+
+
+typedef struct {
+  uint32_t last_shoot; /* 上次射击时间 单位：ms */
+  bool last_fire;      /* 上次开火状态 */
+  bool first_fire;     /* 第一次收到开火指令 */
+  uint32_t shooted;    /* 已经发射的弹丸 */
+  uint32_t to_shoot;   /* 计划发射的弹丸 */
+  float bullet_speed;  /* 弹丸初速度 */
+  uint32_t period_ms;  /* 弹丸击发延迟 */
+} Shoot_FireCtrl_t;
+
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
+ * 包含了初始化参数，中间变量，输出变量。
+ */
+typedef struct {
+  uint64_t lask_wakeup;
+  float dt;
+
+  const Shoot_Params_t *param; /* 射击的参数，用Shoot_Init设定 */
+  Shoot_FireCtrl_t fire_ctrl;
+  /* 模块通用 */
+  Shoot_Mode_t mode; /* 当前模式 */
+
+  /* 反馈信息 */
+  struct {
+    MOTOR_Feedback_t fric[2]; /* 摩擦轮电机反馈 */
+    MOTOR_Feedback_t trig;    /* 拨弹电机反馈 */
+  } feedback;
+
+  /* PID计算的目标值 */
+  struct {
+    float fric_rpm[2]; /* 摩擦轮电机转速，单位：RPM */
+    float trig_angle;  /* 拨弹电机角度，单位：弧度 */
+  } setpoint;
+
+  /* 反馈控制用的PID */
+  struct {
+    KPID_t fric[2]; /* 控制摩擦轮 */
+    KPID_t trig;    /* 控制拨弹电机 */
+  } pid;
+
+  /* 过滤器 */
+  struct {
+    /* 反馈值滤波器 */
+    struct {
+      LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
+      LowPassFilter2p_t trig;    /* 过滤拨弹电机 */
+    } in;
+
+    /* 输出值滤波器 */
+    struct {
+      LowPassFilter2p_t fric[2]; /* 过滤摩擦轮 */
+      LowPassFilter2p_t trig;    /* 过滤拨弹电机 */
+    } out;
+  } filter;
+
+} Shoot_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化射击
+ *
+ * \param s 包含射击数据的结构体
+ * \param param 包含射击参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Init(Shoot_t *s, const Shoot_Params_t *param, float target_freq);
+
+/**
+ * \brief 更新射击的反馈信息
+ *
+ * \param s 包含射击数据的结构体
+ * \param can CAN设备结构体
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_UpdateFeedback(Shoot_t *s);
+
+/**
+ * \brief 运行射击控制逻辑
+ *
+ * \param s 包含射击数据的结构体
+ * \param s_cmd 射击控制指令
+ * \param s_ref 裁判系统数据
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Shoot_Control(Shoot_t *s,Shoot_CMD_t *s_cmd);
+
+/**
+ * \brief 射击输出值
+ *
+ * \param s 包含射击数据的结构体
+ * \param out CAN设备射击输出结构体
+ */
+void Shoot_Output(Shoot_t *s);
+
+
+#ifdef __cplusplus
+}
+#endif

User/task/monitor.c

@@ -1,12 +1,14 @@
 /*
     monitor Task
-    
 */
 
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "bsp/time.h"
+#include "bsp/pwm.h"
+#include "component/user_math.h"
+#include <math.h>
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +16,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+float led = 0.0f;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +32,15 @@ void Task_monitor(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  BSP_PWM_SetComp(BSP_PWM_LED_G, led);
+  BSP_PWM_Start(BSP_PWM_LED_G);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-
+    led = fAbs(sinf(BSP_TIME_Get_ms()/1000.0f));
+    BSP_PWM_SetComp(BSP_PWM_LED_G, led);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/rc.c

@@ -6,7 +6,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "device/dr16.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +14,7 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+DR16_t dr16;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -26,12 +26,17 @@ void Task_rc(void *argument) {
   osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */
 
   /* USER CODE INIT BEGIN */
-
+  DR16_Init(&dr16);
   /* USER CODE INIT END */
 
   while (1) {
     /* USER CODE BEGIN */
-
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
     /* USER CODE END */
   }
   

debug.jdebug

@@ -0,0 +1,361 @@
+/*********************************************************************
+*                 (c) SEGGER Microcontroller GmbH                    *
+*                      The Embedded Experts                          *
+*                         www.segger.com                             *
+**********************************************************************
+
+File          : /Users/lvzucheng/Documents/R/balance_infantry/debug.jdebug
+Created       : 28 Sep 2025 16:36
+Ozone Version : V3.38d
+*/
+
+/*********************************************************************
+*
+*       OnProjectLoad
+*
+* Function description
+*   Project load routine. Required.
+*
+**********************************************************************
+*/
+void OnProjectLoad (void) {
+  //
+  // Dialog-generated settings
+  //
+  Project.AddPathSubstitute ("/Users/lvzucheng/Documents/R/balance_infantry", "$(ProjectDir)");
+  Project.AddPathSubstitute ("/users/lvzucheng/documents/r/balance_infantry", "$(ProjectDir)");
+  Project.SetDevice ("STM32F407IG");
+  Project.SetHostIF ("USB", "207400620");
+  Project.SetTargetIF ("SWD");
+  Project.SetTIFSpeed ("4 MHz");
+  Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M4F.svd");
+  //
+  // User settings
+  //
+  File.Open ("$(ProjectDir)/build/Debug/DevC.elf");
+}
+
+/*********************************************************************
+*
+*       OnStartupComplete
+*
+* Function description
+*   Called when program execution has reached/passed
+*   the startup completion point. Optional.
+*
+**********************************************************************
+*/
+//void OnStartupComplete (void) {
+//}
+
+/*********************************************************************
+*
+*      TargetReset
+*
+* Function description
+*   Replaces the default target device reset routine. Optional.
+*
+* Notes
+*   This example demonstrates the usage when
+*   debugging an application in RAM on a Cortex-M target device.
+*
+**********************************************************************
+*/
+//void TargetReset (void) {
+//
+//  unsigned int SP;
+//  unsigned int PC;
+//  unsigned int VectorTableAddr;
+//
+//  VectorTableAddr = Elf.GetBaseAddr();
+//  //
+//  // Set up initial stack pointer
+//  //
+//  if (VectorTableAddr != 0xFFFFFFFF) {
+//    SP = Target.ReadU32(VectorTableAddr);
+//    Target.SetReg("SP", SP);
+//  }
+//  //
+//  // Set up entry point PC
+//  //
+//  PC = Elf.GetEntryPointPC();
+//
+//  if (PC != 0xFFFFFFFF) {
+//    Target.SetReg("PC", PC);
+//  } else if (VectorTableAddr != 0xFFFFFFFF) {
+//    PC = Target.ReadU32(VectorTableAddr + 4);
+//    Target.SetReg("PC", PC);
+//  } else {
+//    Util.Error("Project file error: failed to set entry point PC", 1);
+//  }
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetReset
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetReset (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetReset
+*
+* Function description
+*   Event handler routine. Optional.
+*   The default implementation initializes SP and PC to reset values.
+**
+**********************************************************************
+*/
+void AfterTargetReset (void) {
+  _SetupTarget();
+}
+
+/*********************************************************************
+*
+*       DebugStart
+*
+* Function description
+*   Replaces the default debug session startup routine. Optional.
+*
+**********************************************************************
+*/
+//void DebugStart (void) {
+//}
+
+/*********************************************************************
+*
+*       TargetConnect
+*
+* Function description
+*   Replaces the default target IF connection routine. Optional.
+*
+**********************************************************************
+*/
+//void TargetConnect (void) {
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetConnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetConnect (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetConnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterTargetConnect (void) {
+//}
+
+/*********************************************************************
+*
+*       TargetDownload
+*
+* Function description
+*   Replaces the default program download routine. Optional.
+*
+**********************************************************************
+*/
+//void TargetDownload (void) {
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetDownload
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetDownload (void) {
+//}
+
+/*********************************************************************
+*
+*      AfterTargetDownload
+*
+* Function description
+*   Event handler routine. Optional.
+*   The default implementation initializes SP and PC to reset values.
+*
+**********************************************************************
+*/
+void AfterTargetDownload (void) {
+  _SetupTarget();
+}
+
+/*********************************************************************
+*
+*       BeforeTargetDisconnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetDisconnect (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetDisconnect
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterTargetDisconnect (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterTargetHalt
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterTargetHalt (void) {
+//}
+
+/*********************************************************************
+*
+*       BeforeTargetResume
+*
+* Function description
+*   Event handler routine. Optional.
+*
+**********************************************************************
+*/
+//void BeforeTargetResume (void) {
+//}
+
+/*********************************************************************
+*
+*       OnSnapshotLoad
+*
+* Function description
+*   Called upon loading a snapshot. Optional.
+*
+* Additional information
+*   This function is used to restore the target state in cases
+*   where values cannot simply be written to the target.
+*   Typical use: GPIO clock needs to be enabled, before
+*   GPIO is configured.
+*
+**********************************************************************
+*/
+//void OnSnapshotLoad (void) {
+//}
+
+/*********************************************************************
+*
+*       OnSnapshotSave
+*
+* Function description
+*   Called upon saving a snapshot. Optional.
+*
+* Additional information
+*   This function is usually used to save values of the target
+*   state which can either not be trivially read,
+*   or need to be restored in a specific way or order.
+*   Typically use: Memory Mapped Registers,
+*   such as PLL and GPIO configuration.
+*
+**********************************************************************
+*/
+//void OnSnapshotSave (void) {
+//}
+
+/*********************************************************************
+*
+*       OnError
+*
+* Function description
+*   Called when an error ocurred. Optional.
+*
+**********************************************************************
+*/
+//void OnError (void) {
+//}
+
+/*********************************************************************
+*
+*       AfterProjectLoad
+*
+* Function description
+*   After Project load routine. Optional.
+*
+**********************************************************************
+*/
+//void AfterProjectLoad (void) {
+//}
+
+/*********************************************************************
+*
+*       OnDebugStartBreakSymbolReached
+*
+* Function description
+*   Called when program execution has reached/passed
+*   the symbol to be breaked at during debug start. Optional.
+*
+**********************************************************************
+*/
+//void OnDebugStartBreakSymReached (void) {
+//}
+
+/*********************************************************************
+*
+*       _SetupTarget
+*
+* Function description
+*   Setup the target.
+*   Called by AfterTargetReset() and AfterTargetDownload().
+*
+*   Auto-generated function. May be overridden by Ozone.
+*
+**********************************************************************
+*/
+void _SetupTarget(void) {
+  unsigned int SP;
+  unsigned int PC;
+  unsigned int VectorTableAddr;
+
+  VectorTableAddr = Elf.GetBaseAddr();
+  //
+  // Set up initial stack pointer
+  //
+  SP = Target.ReadU32(VectorTableAddr);
+  if (SP != 0xFFFFFFFF) {
+    Target.SetReg("SP", SP);
+  }
+  //
+  // Set up entry point PC
+  //
+  PC = Elf.GetEntryPointPC();
+  if (PC != 0xFFFFFFFF) {
+    Target.SetReg("PC", PC);
+  } else {
+    Util.Error("Project script error: failed to set up entry point PC", 1);
+  }
+}