From 2c7e90fda1c9ac58eb028d38aeb5eb9e19c66f4c Mon Sep 17 00:00:00 2001 From: yxming66 <2389287465@qq.com> Date: Wed, 5 Nov 2025 17:13:49 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8E=BB=E6=8E=89=E4=BA=86Config=5FShootInit?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .clangd | 11 + .gitignore | 3 + .mxproject | 7 +- .settings/bundles-lock.store.json | 147 +++++ .settings/bundles.store.json | 20 + .settings/ide.store.json | 6 + .vscode/c_cpp_properties.json | 8 + .vscode/settings.json | 15 +- CMakeLists.txt | 98 ++++ CMakePresets.json | 38 ++ Core/Src/syscalls.c | 244 +++++++++ Core/Src/sysmem.c | 87 +++ .../portable/{RVDS => GCC}/ARM_CM4F/port.c | 0 .../{RVDS => GCC}/ARM_CM4F/portmacro.h | 0 STM32F407XX_FLASH.ld | 269 ++++++++++ User/module/config.c | 142 +++-- User/module/config.h | 3 +- User/module/{shoot_control.c => shoot.c} | 126 ++--- User/module/{shoot_control.h => shoot.h} | 44 +- User/task/config.yaml | 7 + User/task/init.c | 3 +- User/task/rc.c | 11 +- User/task/shoot_ctrl.c | 16 +- User/task/user_task.c | 7 +- User/task/user_task.h | 13 +- cmake/gcc-arm-none-eabi.cmake | 43 ++ cmake/starm-clang.cmake | 65 +++ cmake/stm32cubemx/CMakeLists.txt | 115 ++++ shoot.ioc | 2 +- startup_stm32f407xx.s | 508 ++++++++++++++++++ 30 files changed, 1870 insertions(+), 188 deletions(-) create mode 100644 .clangd create mode 100644 .gitignore create mode 100644 .settings/bundles-lock.store.json create mode 100644 .settings/bundles.store.json create mode 100644 .settings/ide.store.json create mode 100644 .vscode/c_cpp_properties.json create mode 100644 CMakeLists.txt create mode 100644 CMakePresets.json create mode 100644 Core/Src/syscalls.c create mode 100644 Core/Src/sysmem.c rename Middlewares/Third_Party/FreeRTOS/Source/portable/{RVDS => GCC}/ARM_CM4F/port.c (100%) rename Middlewares/Third_Party/FreeRTOS/Source/portable/{RVDS => GCC}/ARM_CM4F/portmacro.h (100%) create mode 100644 STM32F407XX_FLASH.ld rename User/module/{shoot_control.c => shoot.c} (82%) rename User/module/{shoot_control.h => shoot.h} (85%) create mode 100644 cmake/gcc-arm-none-eabi.cmake create mode 100644 cmake/starm-clang.cmake create mode 100644 cmake/stm32cubemx/CMakeLists.txt create mode 100644 startup_stm32f407xx.s diff --git a/.clangd b/.clangd new file mode 100644 index 0000000..50c62c4 --- /dev/null +++ b/.clangd @@ -0,0 +1,11 @@ +CompileFlags: + Add: + - '-ferror-limit=0' + - '-Wno-implicit-int' + CompilationDatabase: build/Debug +Diagnostics: + Suppress: + - unused-includes + - unknown_typename + - unknown_typename_suggest + - typename_requires_specqual diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..185b49a --- /dev/null +++ b/.gitignore @@ -0,0 +1,3 @@ +build +mx.scratch +!.settings \ No newline at end of file diff --git a/.mxproject b/.mxproject index 0527a43..132f5cb 100644 --- a/.mxproject +++ b/.mxproject @@ -1,5 +1,5 @@ [PreviousLibFiles] -LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h; +LibFiles=Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_mpool.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\freertos_os2.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cachel1_armv7.h;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_armclang_ltm.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv81mml.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm35p.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm55.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_cm85.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\core_starmc1.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\pac_armv81.h;Drivers\CMSIS\Include\pmu_armv8.h;Drivers\CMSIS\Include\tz_context.h; [PreviousUsedKeilFiles] SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\can.c;..\Core\Src\dma.c;..\Core\Src\usart.c;..\Core\Src\stm32f4xx_it.c;..\Core\Src\stm32f4xx_hal_msp.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;..\Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;..\Core\Src\system_stm32f4xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c; @@ -33,3 +33,8 @@ SourceFolderListSize=1 SourcePath#0=..\Core\Src SourceFiles=; +[PreviousUsedCMakes] +SourceFiles=Core\Src\main.c;Core\Src\gpio.c;Core\Src\freertos.c;Core\Src\can.c;Core\Src\dma.c;Core\Src\usart.c;Core\Src\stm32f4xx_it.c;Core\Src\stm32f4xx_hal_msp.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Core\Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c; +HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Core\Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json new file mode 100644 index 0000000..7e6cbbe --- /dev/null +++ b/.settings/bundles-lock.store.json @@ -0,0 +1,147 @@ +{ + "resolved": [ + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "darwin", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "cmake", + "version": "4.0.1+st.3", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9", + "platform": "darwin", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + } + ] + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + } + ] + }, + { + "name": "gnu-tools-for-stm32-13_3_1-description", + "version": "1.0.1+st.1", + "platform": "all", + "selected_by": [ + { + "name": "gnu-tools-for-stm32-13_3_1-description", + "version": ">=0.0.1" + } + ] + }, + { + "name": "ninja", + "version": "1.13.1+st.1", + "platform": "darwin", + "selected_by": [ + { + "name": "ninja", + "version": "1.13.1+st.1" + } + ] + }, + { + "name": "ninja", + "version": "1.13.1+st.1", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "ninja", + "version": "1.13.1+st.1" + } + ] + }, + { + "name": "ninja", + "version": "1.13.1+st.1", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "ninja", + "version": "1.13.1+st.1" + } + ] + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3", + "platform": "darwin", + "selected_by": [ + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] + } + ] +} diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json new file mode 100644 index 0000000..d036e56 --- /dev/null +++ b/.settings/bundles.store.json @@ -0,0 +1,20 @@ +{ + "bundles": [ + { + "name": "cmake", + "version": "4.0.1+st.3" + }, + { + "name": "ninja", + "version": "1.13.1+st.1" + }, + { + "name": "gnu-tools-for-stm32", + "version": "13.3.1+st.9" + }, + { + "name": "st-arm-clangd", + "version": "19.1.2+st.3" + } + ] +} diff --git a/.settings/ide.store.json b/.settings/ide.store.json new file mode 100644 index 0000000..6ffc181 --- /dev/null +++ b/.settings/ide.store.json @@ -0,0 +1,6 @@ +{ + "device": "STM32F407IGH6", + "core": "Cortex-M4", + "order": 0, + "toolchain": "GCC" +} \ No newline at end of file diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..233ee1f --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,8 @@ +{ + "configurations": [ + { + "name": "STM32", + "compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json" + } + ] +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json index 188e5c9..aadd297 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -6,5 +6,18 @@ "motor_rm.h": "c", "filter.h": "c", "user_math.h": "c" - } + }, + "cmake.cmakePath": "cube-cmake", + "cmake.configureArgs": [ + "-DCMAKE_COMMAND=cube-cmake" + ], + "cmake.preferredGenerators": [ + "Ninja" + ], + "stm32cube-ide-clangd.path": "cube", + "stm32cube-ide-clangd.arguments": [ + "starm-clangd", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-gcc.exe", + "--query-driver=${env:CUBE_BUNDLE_PATH}/gnu-tools-for-stm32/13.3.1+st.9/bin/arm-none-eabi-g++.exe" + ] } \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..6764393 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,98 @@ +cmake_minimum_required(VERSION 3.22) + +# +# This file is generated only once, +# and is not re-generated if converter is called multiple times. +# +# User is free to modify the file as much as necessary +# + +# Setup compiler settings +set(CMAKE_C_STANDARD 11) +set(CMAKE_C_STANDARD_REQUIRED ON) +set(CMAKE_C_EXTENSIONS ON) + + +# Define the build type +if(NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE "Debug") +endif() + +# Set the project name +set(CMAKE_PROJECT_NAME shoot) + +# Enable compile command to ease indexing with e.g. clangd +set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE) + +# Core project settings +project(${CMAKE_PROJECT_NAME}) +message("Build type: " ${CMAKE_BUILD_TYPE}) + +# Enable CMake support for ASM and C languages +enable_language(C ASM) + +# Create an executable object type +add_executable(${CMAKE_PROJECT_NAME}) + +# Add STM32CubeMX generated sources +add_subdirectory(cmake/stm32cubemx) + +# Link directories setup +target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined library search paths +) + +# Add sources to executable +target_sources(${CMAKE_PROJECT_NAME} PRIVATE + # Add user sources here + # User/bsp sources + User/bsp/can.c + User/bsp/dwt.c + User/bsp/mm.c + User/bsp/time.c + User/bsp/uart.c + + # User/component sources + User/component/at9s_pro_cmd.c + User/component/filter.c + User/component/pid.c + User/component/user_math.c + + # User/device sources + User/device/AT9S_Pro.c + User/device/motor.c + User/device/motor_rm.c + User/device/vofa.c + + # User/module sources + User/module/config.c + User/module/shoot.c + + # User/task sources + User/task/cmd.c + User/task/init.c + User/task/rc.c + User/task/shoot_ctrl.c + User/task/user_task.c +) + +# Add include paths +target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined include paths + User +) + +# Add project symbols (macros) +target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE + # Add user defined symbols +) + +# Remove wrong libob.a library dependency when using cpp files +list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob) + +# Add linked libraries +target_link_libraries(${CMAKE_PROJECT_NAME} + stm32cubemx + + # Add user defined libraries +) diff --git a/CMakePresets.json b/CMakePresets.json new file mode 100644 index 0000000..9a0c120 --- /dev/null +++ b/CMakePresets.json @@ -0,0 +1,38 @@ +{ + "version": 3, + "configurePresets": [ + { + "name": "default", + "hidden": true, + "generator": "Ninja", + "binaryDir": "${sourceDir}/build/${presetName}", + "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake", + "cacheVariables": { + } + }, + { + "name": "Debug", + "inherits": "default", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Debug" + } + }, + { + "name": "Release", + "inherits": "default", + "cacheVariables": { + "CMAKE_BUILD_TYPE": "Release" + } + } + ], + "buildPresets": [ + { + "name": "Debug", + "configurePreset": "Debug" + }, + { + "name": "Release", + "configurePreset": "Release" + } + ] +} \ No newline at end of file diff --git a/Core/Src/syscalls.c b/Core/Src/syscalls.c new file mode 100644 index 0000000..e10d76f --- /dev/null +++ b/Core/Src/syscalls.c @@ -0,0 +1,244 @@ +/** + ****************************************************************************** + * @file syscalls.c + * @author Auto-generated by STM32CubeMX + * @brief Minimal System calls file + * + * For more information about which c-functions + * need which of these lowlevel functions + * please consult the Newlib or Picolibc libc-manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2020-2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include +#include +#include +#include +#include +#include +#include + + +/* Variables */ +extern int __io_putchar(int ch) __attribute__((weak)); +extern int __io_getchar(void) __attribute__((weak)); + + +char *__env[1] = { 0 }; +char **environ = __env; + + +/* Functions */ +void initialise_monitor_handles() +{ +} + +int _getpid(void) +{ + return 1; +} + +int _kill(int pid, int sig) +{ + (void)pid; + (void)sig; + errno = EINVAL; + return -1; +} + +void _exit (int status) +{ + _kill(status, -1); + while (1) {} /* Make sure we hang here */ +} + +__attribute__((weak)) int _read(int file, char *ptr, int len) +{ + (void)file; + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + *ptr++ = __io_getchar(); + } + + return len; +} + +__attribute__((weak)) int _write(int file, char *ptr, int len) +{ + (void)file; + int DataIdx; + + for (DataIdx = 0; DataIdx < len; DataIdx++) + { + __io_putchar(*ptr++); + } + return len; +} + +int _close(int file) +{ + (void)file; + return -1; +} + + +int _fstat(int file, struct stat *st) +{ + (void)file; + st->st_mode = S_IFCHR; + return 0; +} + +int _isatty(int file) +{ + (void)file; + return 1; +} + +int _lseek(int file, int ptr, int dir) +{ + (void)file; + (void)ptr; + (void)dir; + return 0; +} + +int _open(char *path, int flags, ...) +{ + (void)path; + (void)flags; + /* Pretend like we always fail */ + return -1; +} + +int _wait(int *status) +{ + (void)status; + errno = ECHILD; + return -1; +} + +int _unlink(char *name) +{ + (void)name; + errno = ENOENT; + return -1; +} + +clock_t _times(struct tms *buf) +{ + (void)buf; + return -1; +} + +int _stat(const char *file, struct stat *st) +{ + (void)file; + st->st_mode = S_IFCHR; + return 0; +} + +int _link(char *old, char *new) +{ + (void)old; + (void)new; + errno = EMLINK; + return -1; +} + +int _fork(void) +{ + errno = EAGAIN; + return -1; +} + +int _execve(char *name, char **argv, char **env) +{ + (void)name; + (void)argv; + (void)env; + errno = ENOMEM; + return -1; +} + +// --- Picolibc Specific Section --- +#if defined(__PICOLIBC__) + +/** + * @brief Picolibc helper function to output a character to a FILE stream. + * This redirects the output to the low-level __io_putchar function. + * @param c Character to write. + * @param file FILE stream pointer (ignored). + * @retval int The character written. + */ +static int starm_putc(char c, FILE *file) +{ + (void) file; + __io_putchar(c); + return c; +} + +/** + * @brief Picolibc helper function to input a character from a FILE stream. + * This redirects the input from the low-level __io_getchar function. + * @param file FILE stream pointer (ignored). + * @retval int The character read, cast to an unsigned char then int. + */ +static int starm_getc(FILE *file) +{ + unsigned char c; + (void) file; + c = __io_getchar(); + return c; +} + +// Define and initialize the standard I/O streams for Picolibc. +// FDEV_SETUP_STREAM connects the starm_putc and starm_getc helper functions to a FILE structure. +// _FDEV_SETUP_RW indicates the stream is for reading and writing. +static FILE __stdio = FDEV_SETUP_STREAM(starm_putc, + starm_getc, + NULL, + _FDEV_SETUP_RW); + +// Assign the standard stream pointers (stdin, stdout, stderr) to the initialized stream. +// Picolibc uses these pointers for standard I/O operations (printf, scanf, etc.). +FILE *const stdin = &__stdio; +__strong_reference(stdin, stdout); +__strong_reference(stdin, stderr); + +// Create strong aliases mapping standard C library function names (without underscore) +// to the implemented system call stubs (with underscore). Picolibc uses these +// standard names internally, so this linking is required. +__strong_reference(_read, read); +__strong_reference(_write, write); +__strong_reference(_times, times); +__strong_reference(_execve, execve); +__strong_reference(_fork, fork); +__strong_reference(_link, link); +__strong_reference(_unlink, unlink); +__strong_reference(_stat, stat); +__strong_reference(_wait, wait); +__strong_reference(_open, open); +__strong_reference(_close, close); +__strong_reference(_lseek, lseek); +__strong_reference(_isatty, isatty); +__strong_reference(_fstat, fstat); +__strong_reference(_exit, exit); +__strong_reference(_kill, kill); +__strong_reference(_getpid, getpid); + +#endif //__PICOLIBC__ diff --git a/Core/Src/sysmem.c b/Core/Src/sysmem.c new file mode 100644 index 0000000..a875d42 --- /dev/null +++ b/Core/Src/sysmem.c @@ -0,0 +1,87 @@ +/** + ****************************************************************************** + * @file sysmem.c + * @author Generated by STM32CubeMX + * @brief System Memory calls file + * + * For more information about which C functions + * need which of these lowlevel functions + * please consult the Newlib or Picolibc libc manual + ****************************************************************************** + * @attention + * + * Copyright (c) 2025 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/* Includes */ +#include +#include +#include + +/** + * Pointer to the current high watermark of the heap usage + */ +static uint8_t *__sbrk_heap_end = NULL; + +/** + * @brief _sbrk() allocates memory to the newlib heap and is used by malloc + * and others from the C library + * + * @verbatim + * ############################################################################ + * # .data # .bss # newlib heap # MSP stack # + * # # # # Reserved by _Min_Stack_Size # + * ############################################################################ + * ^-- RAM start ^-- _end _estack, RAM end --^ + * @endverbatim + * + * This implementation starts allocating at the '_end' linker symbol + * The '_Min_Stack_Size' linker symbol reserves a memory for the MSP stack + * The implementation considers '_estack' linker symbol to be RAM end + * NOTE: If the MSP stack, at any point during execution, grows larger than the + * reserved size, please increase the '_Min_Stack_Size'. + * + * @param incr Memory size + * @return Pointer to allocated memory + */ +void *_sbrk(ptrdiff_t incr) +{ + extern uint8_t _end; /* Symbol defined in the linker script */ + extern uint8_t _estack; /* Symbol defined in the linker script */ + extern uint32_t _Min_Stack_Size; /* Symbol defined in the linker script */ + const uint32_t stack_limit = (uint32_t)&_estack - (uint32_t)&_Min_Stack_Size; + const uint8_t *max_heap = (uint8_t *)stack_limit; + uint8_t *prev_heap_end; + + /* Initialize heap end at first call */ + if (NULL == __sbrk_heap_end) + { + __sbrk_heap_end = &_end; + } + + /* Protect heap from growing into the reserved MSP stack */ + if (__sbrk_heap_end + incr > max_heap) + { + errno = ENOMEM; + return (void *)-1; + } + + prev_heap_end = __sbrk_heap_end; + __sbrk_heap_end += incr; + + return (void *)prev_heap_end; +} + +#if defined(__PICOLIBC__) + // Picolibc expects syscalls without the leading underscore. + // This creates a strong alias so that + // calls to `sbrk()` are resolved to our `_sbrk()` implementation. + __strong_reference(_sbrk, sbrk); +#endif diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c similarity index 100% rename from Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c rename to Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h similarity index 100% rename from Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h rename to Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h diff --git a/STM32F407XX_FLASH.ld b/STM32F407XX_FLASH.ld new file mode 100644 index 0000000..7995f05 --- /dev/null +++ b/STM32F407XX_FLASH.ld @@ -0,0 +1,269 @@ +/* +****************************************************************************** +** + +** File : LinkerScript.ld +** +** Author : STM32CubeMX +** +** Abstract : Linker script for STM32F407IGHx series +** 1024Kbytes FLASH and 192Kbytes RAM +** +** Set heap size, stack size and stack location according +** to application requirements. +** +** Set memory bank area and size if external memory is used. +** +** Target : STMicroelectronics STM32 +** +** Distribution: The file is distributed “as is,” without any warranty +** of any kind. +** +***************************************************************************** +** @attention +** +**

© COPYRIGHT(c) 2025 STMicroelectronics

+** +** Redistribution and use in source and binary forms, with or without modification, +** are permitted provided that the following conditions are met: +** 1. Redistributions of source code must retain the above copyright notice, +** this list of conditions and the following disclaimer. +** 2. Redistributions in binary form must reproduce the above copyright notice, +** this list of conditions and the following disclaimer in the documentation +** and/or other materials provided with the distribution. +** 3. Neither the name of STMicroelectronics nor the names of its contributors +** may be used to endorse or promote products derived from this software +** without specific prior written permission. +** +** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +** AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +** IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +** DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +** FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +** DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +** SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +** CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +** OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +** +***************************************************************************** +*/ + +/* Entry Point */ +ENTRY(Reset_Handler) + +/* Specify the memory areas */ +MEMORY +{ +RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K +CCMRAM (xrw) : ORIGIN = 0x10000000, LENGTH = 64K +FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 1024K +} + +/* Highest address of the user mode stack */ +_estack = ORIGIN(RAM) + LENGTH(RAM); /* end of RAM */ +/* Generate a link error if heap and stack don't fit into RAM */ +_Min_Heap_Size = 0x200; /* required amount of heap */ +_Min_Stack_Size = 0x400; /* required amount of stack */ + +/* Define output sections */ +SECTIONS +{ + /* The startup code goes first into FLASH */ + .isr_vector : + { + . = ALIGN(4); + KEEP(*(.isr_vector)) /* Startup code */ + . = ALIGN(4); + } >FLASH + + /* The program code and other data goes into FLASH */ + .text : + { + . = ALIGN(4); + *(.text) /* .text sections (code) */ + *(.text*) /* .text* sections (code) */ + *(.glue_7) /* glue arm to thumb code */ + *(.glue_7t) /* glue thumb to arm code */ + *(.eh_frame) + + KEEP (*(.init)) + KEEP (*(.fini)) + + . = ALIGN(4); + _etext = .; /* define a global symbols at end of code */ + } >FLASH + + /* Constant data goes into FLASH */ + .rodata : + { + . = ALIGN(4); + *(.rodata) /* .rodata sections (constants, strings, etc.) */ + *(.rodata*) /* .rodata* sections (constants, strings, etc.) */ + . = ALIGN(4); + } >FLASH + + .ARM.extab (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + *(.ARM.extab* .gnu.linkonce.armextab.*) + . = ALIGN(4); + } >FLASH + + .ARM (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + __exidx_start = .; + *(.ARM.exidx*) + __exidx_end = .; + . = ALIGN(4); + } >FLASH + + .preinit_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + PROVIDE_HIDDEN (__preinit_array_start = .); + KEEP (*(.preinit_array*)) + PROVIDE_HIDDEN (__preinit_array_end = .); + . = ALIGN(4); + } >FLASH + + .init_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + PROVIDE_HIDDEN (__init_array_start = .); + KEEP (*(SORT(.init_array.*))) + KEEP (*(.init_array*)) + PROVIDE_HIDDEN (__init_array_end = .); + . = ALIGN(4); + } >FLASH + + .fini_array (READONLY) : /* The "READONLY" keyword is only supported in GCC11 and later, remove it if using GCC10 or earlier. */ + { + . = ALIGN(4); + PROVIDE_HIDDEN (__fini_array_start = .); + KEEP (*(SORT(.fini_array.*))) + KEEP (*(.fini_array*)) + PROVIDE_HIDDEN (__fini_array_end = .); + . = ALIGN(4); + } >FLASH + + _siccmram = LOADADDR(.ccmram); + + /* CCM-RAM section + * + * IMPORTANT NOTE! + * If initialized variables will be placed in this section, + * the startup code needs to be modified to copy the init-values. + */ + .ccmram : + { + . = ALIGN(4); + _sccmram = .; /* create a global symbol at ccmram start */ + *(.ccmram) + *(.ccmram*) + + . = ALIGN(4); + _eccmram = .; /* create a global symbol at ccmram end */ + } >CCMRAM AT> FLASH + + /* used by the startup to initialize data */ + _sidata = LOADADDR(.data); + + /* Initialized data sections goes into RAM, load LMA copy after code */ + .data : + { + . = ALIGN(4); + _sdata = .; /* create a global symbol at data start */ + *(.data) /* .data sections */ + *(.data*) /* .data* sections */ + *(.RamFunc) /* .RamFunc sections */ + *(.RamFunc*) /* .RamFunc* sections */ + + . = ALIGN(4); + } >RAM AT> FLASH + + /* Initialized TLS data section */ + .tdata : ALIGN(4) + { + *(.tdata .tdata.* .gnu.linkonce.td.*) + . = ALIGN(4); + _edata = .; /* define a global symbol at data end */ + PROVIDE(__data_end = .); + PROVIDE(__tdata_end = .); + } >RAM AT> FLASH + + PROVIDE( __tdata_start = ADDR(.tdata) ); + PROVIDE( __tdata_size = __tdata_end - __tdata_start ); + + PROVIDE( __data_start = ADDR(.data) ); + PROVIDE( __data_size = __data_end - __data_start ); + + PROVIDE( __tdata_source = LOADADDR(.tdata) ); + PROVIDE( __tdata_source_end = LOADADDR(.tdata) + SIZEOF(.tdata) ); + PROVIDE( __tdata_source_size = __tdata_source_end - __tdata_source ); + + PROVIDE( __data_source = LOADADDR(.data) ); + PROVIDE( __data_source_end = __tdata_source_end ); + PROVIDE( __data_source_size = __data_source_end - __data_source ); + /* Uninitialized data section */ + .tbss (NOLOAD) : ALIGN(4) + { + /* This is used by the startup in order to initialize the .bss secion */ + _sbss = .; /* define a global symbol at bss start */ + __bss_start__ = _sbss; + *(.tbss .tbss.*) + . = ALIGN(4); + PROVIDE( __tbss_end = . ); + } >RAM + + PROVIDE( __tbss_start = ADDR(.tbss) ); + PROVIDE( __tbss_size = __tbss_end - __tbss_start ); + PROVIDE( __tbss_offset = ADDR(.tbss) - ADDR(.tdata) ); + + PROVIDE( __tls_base = __tdata_start ); + PROVIDE( __tls_end = __tbss_end ); + PROVIDE( __tls_size = __tls_end - __tls_base ); + PROVIDE( __tls_align = MAX(ALIGNOF(.tdata), ALIGNOF(.tbss)) ); + PROVIDE( __tls_size_align = (__tls_size + __tls_align - 1) & ~(__tls_align - 1) ); + PROVIDE( __arm32_tls_tcb_offset = MAX(8, __tls_align) ); + PROVIDE( __arm64_tls_tcb_offset = MAX(16, __tls_align) ); + + .bss (NOLOAD) : ALIGN(4) + { + *(.bss) + *(.bss*) + *(COMMON) + + . = ALIGN(4); + _ebss = .; /* define a global symbol at bss end */ + __bss_end__ = _ebss; + PROVIDE( __bss_end = .); + } >RAM + PROVIDE( __non_tls_bss_start = ADDR(.bss) ); + + PROVIDE( __bss_start = __tbss_start ); + PROVIDE( __bss_size = __bss_end - __bss_start ); + + /* User_heap_stack section, used to check that there is enough RAM left */ + ._user_heap_stack (NOLOAD) : + { + . = ALIGN(8); + PROVIDE ( end = . ); + PROVIDE ( _end = . ); + . = . + _Min_Heap_Size; + . = . + _Min_Stack_Size; + . = ALIGN(8); + } >RAM + + + + /* Remove information from the standard libraries */ + /DISCARD/ : + { + libc.a:* ( * ) + libm.a:* ( * ) + libgcc.a:* ( * ) + } + +} diff --git a/User/module/config.c b/User/module/config.c index 5c5606b..0c388a2 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -15,44 +15,106 @@ // 机器人参数配置 Config_RobotParam_t robot_config = { - - - - .shoot_param = { - .proj=SHOOT_PROJECTILE_17MM, - .fric_num=2, +.shoot_param = { + .proj=SHOOT_PROJECTILE_42MM, + .fric_num=6, .extra_deceleration_ratio=1.0f, - .num_trig_tooth=4, - .shot_freq=20.0f, - .shot_burst_num=10, - .num_multilevel=1, - .jam_enable=false, - .jam_threshold=120.0f, + .num_trig_tooth=5, + .shot_freq=1.0f, + .shot_burst_num=3, + .num_multilevel=2, + .ratio_multilevel = {0.8f, 1.0f}, + .fric_motor_param = { + { + .param = { + .can = BSP_CAN_2, + .id = 0x201, + .module = MOTOR_M3508, + .reverse = false, + .gear = false, + }, + .level=1, + }, + { + .param = { + .can = BSP_CAN_2, + .id = 0x202, + .module = MOTOR_M3508, + .reverse = true, + .gear = false, + }, + .level=1, + }, + { + .param = { + .can = BSP_CAN_2, + .id = 0x203, + .module = MOTOR_M3508, + .reverse = true, + .gear = false, + }, + .level=1, + }, + { + .param = { + .can = BSP_CAN_2, + .id = 0x204, + .module = MOTOR_M3508, + .reverse = false, + .gear = false, + }, + .level=2, + }, + { + .param = { + .can = BSP_CAN_2, + .id = 0x205, + .module = MOTOR_M3508, + .reverse = true, + .gear = false, + }, + .level=2, + }, + { + .param = { + .can = BSP_CAN_2, + .id = 0x206, + .module = MOTOR_M3508, + .reverse = false, + .gear = false, + }, + .level=2, + } + }, + + .jam_enable=true, + .jam_threshold=240.0f, .jam_suspected_time=0.5f, .trig_motor_param = { - .can = BSP_CAN_2, + .can = BSP_CAN_1, .id = 0x207, - .module = MOTOR_M2006, - .reverse = true, + .module = MOTOR_M3508, + .reverse = false, .gear=true, }, + .fric_follow = { .k=1.0f, .p=1.8f, - .i=0.0f, - .d=0.0f, - .i_limit=0.0f, + .i=0.1f, + .d=0.05f, + .i_limit=0.1f, .out_limit=0.9f, .d_cutoff_freq=30.0f, .range=-1.0f, }, .fric_err = { - .k=1.0f, + .k=0.0f, .p=4.0f, .i=0.4f, .d=0.04f, .i_limit=0.25f, - .out_limit=0.25f, + .out_limit=0.01f, .d_cutoff_freq=40.0f, .range=-1.0f, }, @@ -107,6 +169,7 @@ Config_RobotParam_t robot_config = { } }; + /* Private function prototypes ---------------------------------------------- */ /* Exported functions ------------------------------------------------------- */ @@ -116,43 +179,4 @@ Config_RobotParam_t robot_config = { */ Config_RobotParam_t* Config_GetRobotParam(void) { return &robot_config; -} - -/** - * @brief 初始化发射部分配置参数 - * @return 初始化结果 - */ -int8_t Config_ShootInit(void) { - int fric_num = robot_config.shoot_param.fric_num; - int num_multilevel = robot_config.shoot_param.num_multilevel; - robot_config.shoot_param.fric_motor_param = (Shoot_MOTOR_RM_Param_t *)BSP_Malloc(fric_num * sizeof(Shoot_MOTOR_RM_Param_t)); - if (robot_config.shoot_param.fric_motor_param == NULL) { - BSP_Free(robot_config.shoot_param.fric_motor_param); - return -1; // 内存分配失败 - } - robot_config.shoot_param.ratio_multilevel = (float *)BSP_Malloc(num_multilevel * sizeof(float)); - if (robot_config.shoot_param.ratio_multilevel == NULL) { - BSP_Free(robot_config.shoot_param.ratio_multilevel); - return -1; // 内存分配失败 - } - /* 初始化摩擦轮电机参数 */ - for (uint8_t i = 0; i < fric_num; i++) { - robot_config.shoot_param.fric_motor_param[i].param = (MOTOR_RM_Param_t){ - .can = BSP_CAN_2, - .id = 0x201 + i, - .module = MOTOR_M3508, - /*设置电机反装；example*********************** - .reverse = (i == 0||i == 2) ? true : false,*/ - .reverse = (i == 1) ? true : false, - .gear = false, - }; - } - /*规定电机属于哪级发射；example************************ - robot_config.shoot_param.fric_motor_param[0].level=1;*/ - robot_config.shoot_param.fric_motor_param[0].level=1; - robot_config.shoot_param.fric_motor_param[1].level=1; - /*规定各级摩擦轮转速比；example********************* - robot_config.shoot_param.ratio_multilevel[0]=1.0f;*/ - robot_config.shoot_param.ratio_multilevel[0]=1.0f; - return SHOOT_OK; } \ No newline at end of file diff --git a/User/module/config.h b/User/module/config.h index d5b7b07..6a2a005 100644 --- a/User/module/config.h +++ b/User/module/config.h @@ -12,7 +12,7 @@ extern "C" { #include "component/pid.h" #include "device/motor.h" #include "device/motor_rm.h" -#include "module/shoot_control.h" +#include "module/shoot.h" typedef struct { Shoot_Params_t shoot_param; @@ -25,7 +25,6 @@ typedef struct { * @return 机器人配置参数指针 */ Config_RobotParam_t* Config_GetRobotParam(void); -int8_t Config_ShootInit(void); #ifdef __cplusplus } #endif diff --git a/User/module/shoot_control.c b/User/module/shoot.c similarity index 82% rename from User/module/shoot_control.c rename to User/module/shoot.c index 7b468ea..3b8db19 100644 --- a/User/module/shoot_control.c +++ b/User/module/shoot.c @@ -1,40 +1,10 @@ /* * far♂蛇模块 */ - -/****************************************************************************/ -/********************************* 新手教程 **********************************/ - + +/********************************* 使用示例 **********************************/ /*1.配置config参数以及Config_ShootInit函数参数*/ -/*2.在cmd任务中获取遥控器数据，如下解析后发送给shoot任务 -DEVICE_AT9S_t at9s_from_rc; -Shoot_CMD_t cmd_for_shoot; -osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_from_rc, NULL, 0); - - switch (at9s_from_rc.data.key_C) { - case AT9S_CMD_SW_DOWN: - cmd_for_shoot.online = at9s_from_rc.online; - cmd_for_shoot.ready = true; - cmd_for_shoot.firecmd = true; - break; - case AT9S_CMD_SW_MID: - cmd_for_shoot.online = at9s_from_rc.online; - cmd_for_shoot.ready = true; - cmd_for_shoot.firecmd = false; - break; - case AT9S_CMD_SW_UP: - cmd_for_shoot.online = at9s_from_rc.online; - cmd_for_shoot.ready = false; - cmd_for_shoot.firecmd = false; - break; - default: - cmd_for_shoot.online = at9s_from_rc.online; - cmd_for_shoot.ready = false; - cmd_for_shoot.firecmd = false; - break; - } - osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);*/ -/*3.在shoot任务中完成初始化，接收控制指令以及控制函数调用 +/*2. COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; Shoot_t shoot; Shoot_CMD_t shoot_cmd; @@ -43,22 +13,26 @@ void Task(void *argument) { Config_ShootInit(); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); - /*关于模式切换，有两种方式：1.初始化一个模式 - Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); + Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); 关于模式选择：初始化一个模式 while (1) { - /*关于模式切换，有两种方式：2.或者用遥控器某一摇杆随时切换模式 - shoot.mode =shoot_ctrl_cmd_rc.mode; - osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); - Shoot_UpdateFeedback(&shoot); - Shoot_Control(&shoot,&shoot_cmd); + + shoot_cmd.online =shoot_ctrl_cmd_rc.online; + shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready; + shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd; + + shoot.mode =shoot_ctrl_cmd_rc.mode; 关于模式选择：或者用遥控器随时切换模式，二选一 + + Chassis_UpdateFeedback(&shoot); + Shoot_Control(&shoot,&shoot_cmd); } -}*/ -/****************************************************************************/ +} +*******************************************************************************/ + /* Includes ----------------------------------------------------------------- */ #include -#include "shoot_control.h" +#include "shoot.h" #include "bsp/mm.h" #include "bsp/time.h" #include "component/filter.h" @@ -163,6 +137,22 @@ int8_t Shoot_ResetOutput(Shoot_t *s) s->output.outlpf_trig=0.0f; return SHOOT_OK; } +//float last_angle=0.0f; +//float speed=0.0f; +//int8_t Shoot_CalufeedbackRPM(Shoot_t *s) +//{ +// if (s == NULL) { +// return SHOOT_ERR_NULL; // 参数错误 +// } +//// static +// float err; +// err=CircleError(s->feedback.fric[0].rotor_abs_angle,last_angle,M_2PI); +// speed=err/s->dt/M_2PI*60.0f; +// last_angle=s->feedback.fric->rotor_abs_angle; + + +// return SHOOT_OK; +//} /** * \brief 根据目标弹丸速度计算摩擦轮目标转速 @@ -180,10 +170,10 @@ int8_t Shoot_CaluTargetRPM(Shoot_t *s, float target_speed) switch(s->param->proj) { case SHOOT_PROJECTILE_17MM: - s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM; + s->target_variable.target_rpm=5000.0f; break; case SHOOT_PROJECTILE_42MM: - s->target_variable.target_rpm=5000.0f/MAX_FRIC_RPM; + s->target_variable.target_rpm=3000.0f; break; } return SHOOT_OK; @@ -221,7 +211,7 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd) * * \return 函数运行结果 */ -int8_t Chassis_UpdateFeedback(Shoot_t *s) +int8_t Shoot_UpdateFeedback(Shoot_t *s) { if (s == NULL) { return SHOOT_ERR_NULL; // 参数错误 @@ -278,7 +268,6 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) return SHOOT_ERR_NULL; // 参数错误 } uint8_t fric_num = s->param->fric_num; - uint8_t num_multilevel = s->param->num_multilevel; if(!s->online /*|| s->mode==SHOOT_MODE_SAFE*/){ for(int i=0;irunning_state) { - case SHOOT_STATE_IDLE:/*熄火等待*/ for(int i=0;iparam->fric_motor_param->level-1; - float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm; + float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm/MAX_FRIC_RPM; /* 计算跟随输出、计算修正输出 */ a=s->target_variable.target_rpm/MAX_FRIC_RPM; s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], @@ -363,7 +350,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) Shoot_ResetOutput(s); s->running_state=SHOOT_STATE_IDLE; } - else if(last_firecmd==false&&cmd->firecmd==true) + else if(last_firecmd==false&&cmd->firecmd==true) { s->running_state=SHOOT_STATE_FIRE; /* 根据模式设置待发射弹数 */ @@ -390,7 +377,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd) for(int i=0;iparam->fric_motor_param->level-1; - float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm; + float target_rpm=s->param->ratio_multilevel[level]*s->target_variable.target_rpm/MAX_FRIC_RPM; /* 计算跟随输出、计算修正输出 */ s->output.out_follow[i]=PID_Calc(&s->pid.fric_follow[i], target_rpm, @@ -538,39 +525,6 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq) } uint8_t fric_num = param->fric_num; - /* 分配内存 */ - s->param=param; - s->output.out_follow = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.out_err = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.out_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->output.lpfout_fric = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->feedback.fric = (MOTOR_Feedback_t *) BSP_Malloc(fric_num * sizeof(MOTOR_Feedback_t)); - s->feedback.fil_fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->feedback.fric_rpm = (float *) BSP_Malloc(fric_num * sizeof(float)); - s->pid.fric_follow = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); - s->pid.fric_err = (KPID_t *) BSP_Malloc(fric_num * sizeof(KPID_t)); - s->filter.fric.in = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t)); - s->filter.fric.out = (LowPassFilter2p_t *)BSP_Malloc(fric_num * sizeof(LowPassFilter2p_t)); - - /* 内存分配失败 */ - if (s->feedback.fric == NULL || s->feedback.fil_fric_rpm == NULL || s->feedback.fric_rpm == NULL || - s->output.out_follow == NULL || s->output.out_err == NULL || s->output.out_fric == NULL || - s->output.lpfout_fric == NULL || s->param->fric_motor_param == NULL || s->pid.fric_follow == NULL || - s->pid.fric_err == NULL || s->filter.fric.in == NULL || s->filter.fric.out == NULL) { - BSP_Free(s->feedback.fric); - BSP_Free(s->feedback.fil_fric_rpm); - BSP_Free(s->feedback.fric_rpm); - BSP_Free(s->output.out_follow); - BSP_Free(s->output.out_err); - BSP_Free(s->output.out_fric); - BSP_Free(s->output.lpfout_fric); - BSP_Free(s->param->fric_motor_param); - BSP_Free(s->pid.fric_follow); - BSP_Free(s->pid.fric_err); - BSP_Free(s->filter.fric.in); - BSP_Free(s->filter.fric.out); - return SHOOT_ERR_MALLOC;} - BSP_CAN_Init(); /* 初始化摩擦轮PID和滤波器 */ for(int i=0;idt =(BSP_TIME_Get_us() - s->lask_wakeup) / 1000000.0f; s->lask_wakeup =BSP_TIME_Get_us(); s->online =cmd->online; + Shoot_CaluTargetRPM(s,233); Shoot_JamDetectionFSM(s, cmd); +// Shoot_CalufeedbackRPM(s); return SHOOT_OK; } diff --git a/User/module/shoot_control.h b/User/module/shoot.h similarity index 85% rename from User/module/shoot_control.h rename to User/module/shoot.h index 934d18a..8734985 100644 --- a/User/module/shoot_control.h +++ b/User/module/shoot.h @@ -4,6 +4,7 @@ #pragma once +#include #ifdef __cplusplus extern "C" { #endif @@ -24,6 +25,9 @@ extern "C" { #define MAX_FRIC_RPM 7000.0f #define MAX_TRIG_RPM 5000.0f//这里可能也会影响最高发射频率，待测试 + +#define MAX_FRIC_NUM 6 +#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */ /* Exported macro ----------------------------------------------------------- */ /* Exported types ----------------------------------------------------------- */ typedef enum { @@ -42,7 +46,8 @@ typedef enum { SHOOT_MODE_SAFE = 0, /* 安全模式 */ SHOOT_MODE_SINGLE, /* 单发模式 */ SHOOT_MODE_BURST, /* 多发模式 */ - SHOOT_MODE_CONTINUE /* 连发模式 */ + SHOOT_MODE_CONTINUE, /* 连发模式 */ + SHOOT_MODE_NUM }Shoot_Mode_t; typedef enum { @@ -52,7 +57,7 @@ typedef enum { typedef struct { bool online; /* 遥控器在线 */ - Shoot_Mode_t mode; /* 射击模式 */ + Shoot_Mode_t mode; /* 射击模式 */ bool ready; /* 准备射击 */ bool firecmd; /* 射击指令 */ }Shoot_CMD_t; @@ -63,15 +68,15 @@ typedef struct{ }Shoot_MOTOR_RM_Param_t; typedef struct { - MOTOR_Feedback_t *fric; /* 摩擦轮电机反馈 */ + MOTOR_Feedback_t fric[MAX_FRIC_NUM]; /* 摩擦轮电机反馈 */ MOTOR_RM_t trig; /* 拨弹电机反馈 */ float trig_agl; /*计算所有减速比后的拨弹盘的角度*/ - float *fil_fric_rpm; /* 滤波后的摩擦轮转速 */ + float fil_fric_rpm[MAX_FRIC_NUM]; /* 滤波后的摩擦轮转速 */ float fil_trig_rpm; /* 滤波后的拨弹电机转速*/ - float *fric_rpm; /* 归一化摩擦轮转速 */ + float fric_rpm[MAX_FRIC_NUM]; /* 归一化摩擦轮转速 */ float fric_avgrpm; /* 归一化摩擦轮平均转速*/ float trig_rpm; /* 归一化拨弹电机转速*/ @@ -89,12 +94,11 @@ typedef struct { Shoot_JamDetectionFSM_State_t jamfsm_state; /* 卡弹检测状态 */ }Shoot_JamDetection_t; typedef struct { - float *out_follow; - float *out_err; - float *out_fric; - float *lpfout_fric; + float out_follow[MAX_FRIC_NUM]; + float out_err[MAX_FRIC_NUM]; + float out_fric[MAX_FRIC_NUM]; + float lpfout_fric[MAX_FRIC_NUM]; - float outagl_trig; float outomg_trig; float outlpf_trig; @@ -104,21 +108,21 @@ typedef struct { /* 底盘参数的结构体，包含所有初始化用的参数，通常是const，存好几组 */ typedef struct { Shoot_Projectile_t proj; - size_t fric_num; /* 摩擦轮数量 */ + size_t fric_num; /* 摩擦轮电机数量 */ float extra_deceleration_ratio; /*电机出轴到拨盘的额外减速比；没有写1*/ size_t num_trig_tooth; /* 拨弹盘每圈弹丸数量 */ float shot_freq; /* 射击频率，单位Hz */ size_t shot_burst_num; /* 多发模式一次射击的数量 */ - size_t num_multilevel; /* 多级发射级数 (默认每级摩擦轮的数量相等)*/ - float *ratio_multilevel; /* 多级发射各级速度比例 */ + size_t num_multilevel; /* 多级发射级数 */ + float ratio_multilevel[MAX_NUM_MULTILEVEL]; /* 多级发射各级速度比例 */ - bool jam_enable; /* 是否启用卡弹检测 */ //还没加到逻辑里 + bool jam_enable; /* 是否启用卡弹检测 */ float jam_threshold; /* 卡弹检测阈值，单位A (dji2006建议设置为120A，dji3508建议设置为235A,根据实际测试调整)*/ float jam_suspected_time; /* 卡弹怀疑时间，单位秒 */ - Shoot_MOTOR_RM_Param_t *fric_motor_param; + Shoot_MOTOR_RM_Param_t fric_motor_param[MAX_FRIC_NUM]; MOTOR_RM_Param_t trig_motor_param; @@ -168,8 +172,8 @@ typedef struct { /* 反馈控制用的PID */ struct { - KPID_t *fric_follow; /* 摩擦轮PID主结构体 */ - KPID_t *fric_err; /* 摩擦轮PID主结构体 */ + KPID_t fric_follow[MAX_FRIC_NUM]; /* 摩擦轮PID主结构体 */ + KPID_t fric_err[MAX_FRIC_NUM]; /* 摩擦轮PID主结构体 */ KPID_t trig; /* 拨弹PID主结构体 */ KPID_t trig_omg; /* 拨弹PID主结构体 */ } pid; @@ -177,8 +181,8 @@ typedef struct { /* 滤波器 */ struct { struct{ - LowPassFilter2p_t *in; /* 反馈值滤波器 */ - LowPassFilter2p_t *out; /* 输出值滤波器 */ + LowPassFilter2p_t in[MAX_FRIC_NUM]; /* 反馈值滤波器 */ + LowPassFilter2p_t out[MAX_FRIC_NUM]; /* 输出值滤波器 */ }fric; struct{ LowPassFilter2p_t in; /* 反馈值滤波器 */ @@ -220,7 +224,7 @@ int8_t Shoot_SetMode(Shoot_t *s, Shoot_Mode_t mode); * * \return 函数运行结果 */ -int8_t Chassis_UpdateFeedback(Shoot_t *s); +int8_t Shoot_UpdateFeedback(Shoot_t *s); /** * \brief 初始化发射 diff --git a/User/task/config.yaml b/User/task/config.yaml index af93457..0cee592 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -12,3 +12,10 @@ function: Task_rc name: rc stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_cmd + name: cmd + stack: 256 diff --git a/User/task/init.c b/User/task/init.c index 0f04508..09fcccd 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -32,11 +32,12 @@ void Task_Init(void *argument) { /* 创建任务线程 */ task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl); task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc); + task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd); // 创建消息队列 /* USER MESSAGE BEGIN */ task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL); - task_runtime.msgq.shoot.rc_cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL); + task_runtime.msgq.shoot.cmd= osMessageQueueNew(3u, sizeof(COMP_AT9S_CMD_t), NULL); /* USER MESSAGE END */ osKernelUnlock(); // 解锁内核 diff --git a/User/task/rc.c b/User/task/rc.c index 087b4db..d0b9b03 100644 --- a/User/task/rc.c +++ b/User/task/rc.c @@ -5,19 +5,21 @@ /* Includes ----------------------------------------------------------------- */ #include "task/user_task.h" +/* USER INCLUDE BEGIN */ #include "device/at9s_pro.h" #include "component/at9s_pro_cmd.h" -/* USER INCLUDE BEGIN */ - /* USER INCLUDE END */ /* Private typedef ---------------------------------------------------------- */ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN]; DEVICE_AT9S_t at9s; COMP_AT9S_CMD_t rc_cmd; +/* USER STRUCT END */ + /* Private function --------------------------------------------------------- */ /* Exported functions ------------------------------------------------------- */ void Task_rc(void *argument) { @@ -36,7 +38,7 @@ void Task_rc(void *argument) { /* USER CODE INIT END */ while (1) { - tick += delay_tick; /* 计算下一个唤 醒时刻 */ + tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ if (DEVICE_AT9S_WaitDmaCplt(10)) { DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s); @@ -44,8 +46,7 @@ void Task_rc(void *argument) { DEVICE_AT9S_StartDmaRecv(cmd_buffer); } - osMessageQueuePut(task_runtime.msgq.shoot.rc_cmd, &rc_cmd, 0, 0); - + osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0); /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/User/task/shoot_ctrl.c b/User/task/shoot_ctrl.c index 4a83317..3eb961c 100644 --- a/User/task/shoot_ctrl.c +++ b/User/task/shoot_ctrl.c @@ -7,7 +7,7 @@ #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "component/at9s_pro_cmd.h" -#include "module/shoot_control.h" +#include "module/shoot.h" #include "module/config.h" /* USER INCLUDE END */ @@ -15,10 +15,9 @@ /* Private define ----------------------------------------------------------- */ /* Private macro ------------------------------------------------------------ */ /* Private variables -------------------------------------------------------- */ -COMP_AT9S_CMD_t shoot_ctrl_cmd_rc; +/* USER STRUCT BEGIN */ Shoot_t shoot; Shoot_CMD_t shoot_cmd; -/* USER STRUCT BEGIN */ /* USER STRUCT END */ /* Private function --------------------------------------------------------- */ @@ -34,7 +33,6 @@ void Task_shoot_ctrl(void *argument) { uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ /* USER CODE INIT BEGIN */ - Config_ShootInit(); Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_CTRL_FREQ); Shoot_SetMode(&shoot,SHOOT_MODE_BURST); /* USER CODE INIT END */ @@ -42,14 +40,10 @@ void Task_shoot_ctrl(void *argument) { while (1) { tick += delay_tick; /* 计算下一个唤醒时刻 */ /* USER CODE BEGIN */ - osMessageQueueGet(task_runtime.msgq.shoot.rc_cmd, &shoot_ctrl_cmd_rc, NULL, 0); - shoot_cmd.ready=shoot_ctrl_cmd_rc.shoot.ready; - shoot_cmd.firecmd=shoot_ctrl_cmd_rc.shoot.firecmd; - shoot_cmd.online=shoot_ctrl_cmd_rc.online; - shoot.target_variable.target_rpm=4000; - shoot.mode=shoot_ctrl_cmd_rc.mode; - Chassis_UpdateFeedback(&shoot); + osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0); + Shoot_UpdateFeedback(&shoot); Shoot_Control(&shoot,&shoot_cmd); + /* USER CODE END */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ } diff --git a/User/task/user_task.c b/User/task/user_task.c index 7230d3f..8b28250 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -12,10 +12,15 @@ const osThreadAttr_t attr_init = { const osThreadAttr_t attr_shoot_ctrl = { .name = "shoot_ctrl", .priority = osPriorityNormal, - .stack_size = 512 * 4, + .stack_size = 256 * 4, }; const osThreadAttr_t attr_rc = { .name = "rc", .priority = osPriorityNormal, .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_cmd = { + .name = "cmd", + .priority = osPriorityNormal, + .stack_size = 256 * 4, }; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h index 83559e3..44b284c 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -15,11 +15,13 @@ extern "C" { /* 任务运行频率 */ #define SHOOT_CTRL_FREQ (500.0) #define RC_FREQ (500.0) +#define CMD_FREQ (500.0) /* 任务初始化延时ms */ #define TASK_INIT_DELAY (100u) #define SHOOT_CTRL_INIT_DELAY (0) #define RC_INIT_DELAY (0) +#define CMD_INIT_DELAY (0) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -31,6 +33,7 @@ typedef struct { struct { osThreadId_t shoot_ctrl; osThreadId_t rc; + osThreadId_t cmd; } thread; /* USER MESSAGE BEGIN */ @@ -38,7 +41,10 @@ typedef struct { osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */ struct{ - osMessageQueueId_t rc_cmd; /* 来自遥控器的命令 */ + osMessageQueueId_t rc; /* 来自遥控器的数据 */ + }cmd; + struct{ + osMessageQueueId_t cmd; /* 来自遥控器的命令 */ }shoot; @@ -61,18 +67,21 @@ typedef struct { struct { UBaseType_t shoot_ctrl; UBaseType_t rc; + UBaseType_t cmd; } stack_water_mark; /* 各任务运行频率 */ struct { float shoot_ctrl; float rc; + float cmd; } freq; /* 任务最近运行时间 */ struct { float shoot_ctrl; float rc; + float cmd; } last_up_time; } Task_Runtime_t; @@ -84,11 +93,13 @@ extern Task_Runtime_t task_runtime; extern const osThreadAttr_t attr_init; extern const osThreadAttr_t attr_shoot_ctrl; extern const osThreadAttr_t attr_rc; +extern const osThreadAttr_t attr_cmd; /* 任务函数声明 */ void Task_Init(void *argument); void Task_shoot_ctrl(void *argument); void Task_rc(void *argument); +void Task_cmd(void *argument); #ifdef __cplusplus } diff --git a/cmake/gcc-arm-none-eabi.cmake b/cmake/gcc-arm-none-eabi.cmake new file mode 100644 index 0000000..e665e83 --- /dev/null +++ b/cmake/gcc-arm-none-eabi.cmake @@ -0,0 +1,43 @@ +set(CMAKE_SYSTEM_NAME Generic) +set(CMAKE_SYSTEM_PROCESSOR arm) + +set(CMAKE_C_COMPILER_ID GNU) +set(CMAKE_CXX_COMPILER_ID GNU) + +# Some default GCC settings +# arm-none-eabi- must be part of path environment +set(TOOLCHAIN_PREFIX arm-none-eabi-) + +set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc) +set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER}) +set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++) +set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}g++) +set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy) +set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size) + +set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_C ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf") + +set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) + +# MCU specific flags +set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}") +set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP") +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections") + +set(CMAKE_C_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_C_FLAGS_RELEASE "-Os -g0") +set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0") + +set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics") + +set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage") +set(TOOLCHAIN_LINK_LIBRARIES "m") diff --git a/cmake/starm-clang.cmake b/cmake/starm-clang.cmake new file mode 100644 index 0000000..b675e8f --- /dev/null +++ b/cmake/starm-clang.cmake @@ -0,0 +1,65 @@ +set(CMAKE_SYSTEM_NAME Generic) +set(CMAKE_SYSTEM_PROCESSOR arm) + +set(CMAKE_C_COMPILER_ID Clang) +set(CMAKE_CXX_COMPILER_ID Clang) + +# Some default llvm settings +set(TOOLCHAIN_PREFIX starm-) + +set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}clang) +set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER}) +set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}clang++) +set(CMAKE_LINKER ${TOOLCHAIN_PREFIX}clang) +set(CMAKE_OBJCOPY ${TOOLCHAIN_PREFIX}objcopy) +set(CMAKE_SIZE ${TOOLCHAIN_PREFIX}size) + +set(CMAKE_EXECUTABLE_SUFFIX_ASM ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_C ".elf") +set(CMAKE_EXECUTABLE_SUFFIX_CXX ".elf") + +set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY) + +# STARM_TOOLCHAIN_CONFIG allows you to choose the toolchain configuration. +# Possible values are: +# "STARM_HYBRID" : Hybrid configuration using starm-clang Assemler and Compiler and GNU Linker +# "STARM_NEWLIB" : starm-clang toolchain with NEWLIB C library +# "STARM_PICOLIBC" : starm-clang toolchain with PICOLIBC C library +set(STARM_TOOLCHAIN_CONFIG "STARM_HYBRID") + +if(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID") + set(TOOLCHAIN_MULTILIBS "--multi-lib-config=\"$ENV{CLANG_GCC_CMSIS_COMPILER}/multilib.gnu_tools_for_stm32.yaml\" --gcc-toolchain=\"$ENV{GCC_TOOLCHAIN_ROOT}/..\"") +elseif (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB") + set(TOOLCHAIN_MULTILIBS "--config=newlib.cfg") +endif() + +# MCU specific flags +set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ${TOOLCHAIN_MULTILIBS}") + +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}") +set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MP") +set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections") + +set(CMAKE_C_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_C_FLAGS_RELEASE "-Os -g0") +set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3") +set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0") + +set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics") + +set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}") + +if (STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_HYBRID") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --gcc-specs=nano.specs") + set(TOOLCHAIN_LINK_LIBRARIES "m") +elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_NEWLIB") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-nosys") +elseif(STARM_TOOLCHAIN_CONFIG STREQUAL "STARM_PICOLIBC") + set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lcrt0-hosted") + +endif() + +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32F407XX_FLASH.ld\"") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -z noexecstack") +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage ") diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt new file mode 100644 index 0000000..ca2a6da --- /dev/null +++ b/cmake/stm32cubemx/CMakeLists.txt @@ -0,0 +1,115 @@ +cmake_minimum_required(VERSION 3.22) +# Enable CMake support for ASM and C languages +enable_language(C ASM) +# STM32CubeMX generated symbols (macros) +set(MX_Defines_Syms + USE_HAL_DRIVER + STM32F407xx + $<$:DEBUG> +) + +# STM32CubeMX generated include paths +set(MX_Include_Dirs + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include +) + +# STM32CubeMX generated application sources +set(MX_Application_Src + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/can.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/syscalls.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../startup_stm32f407xx.s +) + +# STM32 HAL/LL Drivers +set(STM32_Drivers_Src + ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c +) + +# Drivers Midllewares + + +set(FreeRTOS_Src + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c + ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c +) + +# Link directories setup +set(MX_LINK_DIRS + +) +# Project static libraries +set(MX_LINK_LIBS + STM32_Drivers + ${TOOLCHAIN_LINK_LIBRARIES} + FreeRTOS +) +# Interface library for includes and symbols +add_library(stm32cubemx INTERFACE) +target_include_directories(stm32cubemx INTERFACE ${MX_Include_Dirs}) +target_compile_definitions(stm32cubemx INTERFACE ${MX_Defines_Syms}) + +# Create STM32_Drivers static library +add_library(STM32_Drivers OBJECT) +target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src}) +target_link_libraries(STM32_Drivers PUBLIC stm32cubemx) + + +# Create FreeRTOS static library +add_library(FreeRTOS OBJECT) +target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src}) +target_link_libraries(FreeRTOS PUBLIC stm32cubemx) + +# Add STM32CubeMX generated application sources to the project +target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src}) + +# Link directories setup +target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE ${MX_LINK_DIRS}) + +# Add libraries to the project +target_link_libraries(${CMAKE_PROJECT_NAME} ${MX_LINK_LIBS}) + +# Add the map file to the list of files to be removed with 'clean' target +set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES ADDITIONAL_CLEAN_FILES ${CMAKE_PROJECT_NAME}.map) + +# Validate that STM32CubeMX code is compatible with C standard +if((CMAKE_C_STANDARD EQUAL 90) OR (CMAKE_C_STANDARD EQUAL 99)) + message(ERROR "Generated code requires C11 or higher") +endif() diff --git a/shoot.ioc b/shoot.ioc index 74beff5..adc3649 100644 --- a/shoot.ioc +++ b/shoot.ioc @@ -152,7 +152,7 @@ ProjectManager.ProjectName=shoot ProjectManager.ProjectStructure= ProjectManager.RegisterCallBack= ProjectManager.StackSize=0x400 -ProjectManager.TargetToolchain=MDK-ARM V5.32 +ProjectManager.TargetToolchain=CMake ProjectManager.ToolChainLocation= ProjectManager.UAScriptAfterPath= ProjectManager.UAScriptBeforePath= diff --git a/startup_stm32f407xx.s b/startup_stm32f407xx.s new file mode 100644 index 0000000..cc5f27e --- /dev/null +++ b/startup_stm32f407xx.s @@ -0,0 +1,508 @@ +/** + ****************************************************************************** + * @file startup_stm32f407xx.s + * @author MCD Application Team + * @brief STM32F407xx Devices vector table for GCC based toolchains. + * This module performs: + * - Set the initial SP + * - Set the initial PC == Reset_Handler, + * - Set the vector table entries with the exceptions ISR address + * - Branches to main in the C library (which eventually + * calls main()). + * After Reset the Cortex-M4 processor is in Thread mode, + * priority is Privileged, and the Stack is set to Main. + ****************************************************************************** + * @attention + * + * Copyright (c) 2017 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + .syntax unified + .cpu cortex-m4 + .fpu softvfp + .thumb + +.global g_pfnVectors +.global Default_Handler + +/* start address for the initialization values of the .data section. +defined in linker script */ +.word _sidata +/* start address for the .data section. defined in linker script */ +.word _sdata +/* end address for the .data section. defined in linker script */ +.word _edata +/* start address for the .bss section. defined in linker script */ +.word _sbss +/* end address for the .bss section. defined in linker script */ +.word _ebss +/* stack used for SystemInit_ExtMemCtl; always internal RAM used */ + +/** + * @brief This is the code that gets called when the processor first + * starts execution following a reset event. Only the absolutely + * necessary set is performed, after which the application + * supplied main() routine is called. + * @param None + * @retval : None +*/ + + .section .text.Reset_Handler + .weak Reset_Handler + .type Reset_Handler, %function +Reset_Handler: + ldr sp, =_estack /* set stack pointer */ + +/* Call the clock system initialization function.*/ + bl SystemInit + +/* Copy the data segment initializers from flash to SRAM */ + ldr r0, =_sdata + ldr r1, =_edata + ldr r2, =_sidata + movs r3, #0 + b LoopCopyDataInit + +CopyDataInit: + ldr r4, [r2, r3] + str r4, [r0, r3] + adds r3, r3, #4 + +LoopCopyDataInit: + adds r4, r0, r3 + cmp r4, r1 + bcc CopyDataInit + +/* Zero fill the bss segment. */ + ldr r2, =_sbss + ldr r4, =_ebss + movs r3, #0 + b LoopFillZerobss + +FillZerobss: + str r3, [r2] + adds r2, r2, #4 + +LoopFillZerobss: + cmp r2, r4 + bcc FillZerobss + +/* Call static constructors */ + bl __libc_init_array +/* Call the application's entry point.*/ + bl main + bx lr +.size Reset_Handler, .-Reset_Handler + +/** + * @brief This is the code that gets called when the processor receives an + * unexpected interrupt. This simply enters an infinite loop, preserving + * the system state for examination by a debugger. + * @param None + * @retval None +*/ + .section .text.Default_Handler,"ax",%progbits +Default_Handler: +Infinite_Loop: + b Infinite_Loop + .size Default_Handler, .-Default_Handler +/****************************************************************************** +* +* The minimal vector table for a Cortex M3. Note that the proper constructs +* must be placed on this to ensure that it ends up at physical address +* 0x0000.0000. +* +*******************************************************************************/ + .section .isr_vector,"a",%progbits + .type g_pfnVectors, %object + + +g_pfnVectors: + .word _estack + .word Reset_Handler + .word NMI_Handler + .word HardFault_Handler + .word MemManage_Handler + .word BusFault_Handler + .word UsageFault_Handler + .word 0 + .word 0 + .word 0 + .word 0 + .word SVC_Handler + .word DebugMon_Handler + .word 0 + .word PendSV_Handler + .word SysTick_Handler + + /* External Interrupts */ + .word WWDG_IRQHandler /* Window WatchDog */ + .word PVD_IRQHandler /* PVD through EXTI Line detection */ + .word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */ + .word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */ + .word FLASH_IRQHandler /* FLASH */ + .word RCC_IRQHandler /* RCC */ + .word EXTI0_IRQHandler /* EXTI Line0 */ + .word EXTI1_IRQHandler /* EXTI Line1 */ + .word EXTI2_IRQHandler /* EXTI Line2 */ + .word EXTI3_IRQHandler /* EXTI Line3 */ + .word EXTI4_IRQHandler /* EXTI Line4 */ + .word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */ + .word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */ + .word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */ + .word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */ + .word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */ + .word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */ + .word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */ + .word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */ + .word CAN1_TX_IRQHandler /* CAN1 TX */ + .word CAN1_RX0_IRQHandler /* CAN1 RX0 */ + .word CAN1_RX1_IRQHandler /* CAN1 RX1 */ + .word CAN1_SCE_IRQHandler /* CAN1 SCE */ + .word EXTI9_5_IRQHandler /* External Line[9:5]s */ + .word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */ + .word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */ + .word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */ + .word TIM1_CC_IRQHandler /* TIM1 Capture Compare */ + .word TIM2_IRQHandler /* TIM2 */ + .word TIM3_IRQHandler /* TIM3 */ + .word TIM4_IRQHandler /* TIM4 */ + .word I2C1_EV_IRQHandler /* I2C1 Event */ + .word I2C1_ER_IRQHandler /* I2C1 Error */ + .word I2C2_EV_IRQHandler /* I2C2 Event */ + .word I2C2_ER_IRQHandler /* I2C2 Error */ + .word SPI1_IRQHandler /* SPI1 */ + .word SPI2_IRQHandler /* SPI2 */ + .word USART1_IRQHandler /* USART1 */ + .word USART2_IRQHandler /* USART2 */ + .word USART3_IRQHandler /* USART3 */ + .word EXTI15_10_IRQHandler /* External Line[15:10]s */ + .word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */ + .word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */ + .word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */ + .word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */ + .word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */ + .word TIM8_CC_IRQHandler /* TIM8 Capture Compare */ + .word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */ + .word FSMC_IRQHandler /* FSMC */ + .word SDIO_IRQHandler /* SDIO */ + .word TIM5_IRQHandler /* TIM5 */ + .word SPI3_IRQHandler /* SPI3 */ + .word UART4_IRQHandler /* UART4 */ + .word UART5_IRQHandler /* UART5 */ + .word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */ + .word TIM7_IRQHandler /* TIM7 */ + .word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */ + .word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */ + .word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */ + .word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */ + .word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */ + .word ETH_IRQHandler /* Ethernet */ + .word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */ + .word CAN2_TX_IRQHandler /* CAN2 TX */ + .word CAN2_RX0_IRQHandler /* CAN2 RX0 */ + .word CAN2_RX1_IRQHandler /* CAN2 RX1 */ + .word CAN2_SCE_IRQHandler /* CAN2 SCE */ + .word OTG_FS_IRQHandler /* USB OTG FS */ + .word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */ + .word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */ + .word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */ + .word USART6_IRQHandler /* USART6 */ + .word I2C3_EV_IRQHandler /* I2C3 event */ + .word I2C3_ER_IRQHandler /* I2C3 error */ + .word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */ + .word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */ + .word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */ + .word OTG_HS_IRQHandler /* USB OTG HS */ + .word DCMI_IRQHandler /* DCMI */ + .word 0 /* CRYP crypto */ + .word HASH_RNG_IRQHandler /* Hash and Rng */ + .word FPU_IRQHandler /* FPU */ + + + + .size g_pfnVectors, .-g_pfnVectors + +/******************************************************************************* +* +* Provide weak aliases for each Exception handler to the Default_Handler. +* As they are weak aliases, any function with the same name will override +* this definition. +* +*******************************************************************************/ + .weak NMI_Handler + .thumb_set NMI_Handler,Default_Handler + + .weak HardFault_Handler + .thumb_set HardFault_Handler,Default_Handler + + .weak MemManage_Handler + .thumb_set MemManage_Handler,Default_Handler + + .weak BusFault_Handler + .thumb_set BusFault_Handler,Default_Handler + + .weak UsageFault_Handler + .thumb_set UsageFault_Handler,Default_Handler + + .weak SVC_Handler + .thumb_set SVC_Handler,Default_Handler + + .weak DebugMon_Handler + .thumb_set DebugMon_Handler,Default_Handler + + .weak PendSV_Handler + .thumb_set PendSV_Handler,Default_Handler + + .weak SysTick_Handler + .thumb_set SysTick_Handler,Default_Handler + + .weak WWDG_IRQHandler + .thumb_set WWDG_IRQHandler,Default_Handler + + .weak PVD_IRQHandler + .thumb_set PVD_IRQHandler,Default_Handler + + .weak TAMP_STAMP_IRQHandler + .thumb_set TAMP_STAMP_IRQHandler,Default_Handler + + .weak RTC_WKUP_IRQHandler + .thumb_set RTC_WKUP_IRQHandler,Default_Handler + + .weak FLASH_IRQHandler + .thumb_set FLASH_IRQHandler,Default_Handler + + .weak RCC_IRQHandler + .thumb_set RCC_IRQHandler,Default_Handler + + .weak EXTI0_IRQHandler + .thumb_set EXTI0_IRQHandler,Default_Handler + + .weak EXTI1_IRQHandler + .thumb_set EXTI1_IRQHandler,Default_Handler + + .weak EXTI2_IRQHandler + .thumb_set EXTI2_IRQHandler,Default_Handler + + .weak EXTI3_IRQHandler + .thumb_set EXTI3_IRQHandler,Default_Handler + + .weak EXTI4_IRQHandler + .thumb_set EXTI4_IRQHandler,Default_Handler + + .weak DMA1_Stream0_IRQHandler + .thumb_set DMA1_Stream0_IRQHandler,Default_Handler + + .weak DMA1_Stream1_IRQHandler + .thumb_set DMA1_Stream1_IRQHandler,Default_Handler + + .weak DMA1_Stream2_IRQHandler + .thumb_set DMA1_Stream2_IRQHandler,Default_Handler + + .weak DMA1_Stream3_IRQHandler + .thumb_set DMA1_Stream3_IRQHandler,Default_Handler + + .weak DMA1_Stream4_IRQHandler + .thumb_set DMA1_Stream4_IRQHandler,Default_Handler + + .weak DMA1_Stream5_IRQHandler + .thumb_set DMA1_Stream5_IRQHandler,Default_Handler + + .weak DMA1_Stream6_IRQHandler + .thumb_set DMA1_Stream6_IRQHandler,Default_Handler + + .weak ADC_IRQHandler + .thumb_set ADC_IRQHandler,Default_Handler + + .weak CAN1_TX_IRQHandler + .thumb_set CAN1_TX_IRQHandler,Default_Handler + + .weak CAN1_RX0_IRQHandler + .thumb_set CAN1_RX0_IRQHandler,Default_Handler + + .weak CAN1_RX1_IRQHandler + .thumb_set CAN1_RX1_IRQHandler,Default_Handler + + .weak CAN1_SCE_IRQHandler + .thumb_set CAN1_SCE_IRQHandler,Default_Handler + + .weak EXTI9_5_IRQHandler + .thumb_set EXTI9_5_IRQHandler,Default_Handler + + .weak TIM1_BRK_TIM9_IRQHandler + .thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler + + .weak TIM1_UP_TIM10_IRQHandler + .thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler + + .weak TIM1_TRG_COM_TIM11_IRQHandler + .thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler + + .weak TIM1_CC_IRQHandler + .thumb_set TIM1_CC_IRQHandler,Default_Handler + + .weak TIM2_IRQHandler + .thumb_set TIM2_IRQHandler,Default_Handler + + .weak TIM3_IRQHandler + .thumb_set TIM3_IRQHandler,Default_Handler + + .weak TIM4_IRQHandler + .thumb_set TIM4_IRQHandler,Default_Handler + + .weak I2C1_EV_IRQHandler + .thumb_set I2C1_EV_IRQHandler,Default_Handler + + .weak I2C1_ER_IRQHandler + .thumb_set I2C1_ER_IRQHandler,Default_Handler + + .weak I2C2_EV_IRQHandler + .thumb_set I2C2_EV_IRQHandler,Default_Handler + + .weak I2C2_ER_IRQHandler + .thumb_set I2C2_ER_IRQHandler,Default_Handler + + .weak SPI1_IRQHandler + .thumb_set SPI1_IRQHandler,Default_Handler + + .weak SPI2_IRQHandler + .thumb_set SPI2_IRQHandler,Default_Handler + + .weak USART1_IRQHandler + .thumb_set USART1_IRQHandler,Default_Handler + + .weak USART2_IRQHandler + .thumb_set USART2_IRQHandler,Default_Handler + + .weak USART3_IRQHandler + .thumb_set USART3_IRQHandler,Default_Handler + + .weak EXTI15_10_IRQHandler + .thumb_set EXTI15_10_IRQHandler,Default_Handler + + .weak RTC_Alarm_IRQHandler + .thumb_set RTC_Alarm_IRQHandler,Default_Handler + + .weak OTG_FS_WKUP_IRQHandler + .thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler + + .weak TIM8_BRK_TIM12_IRQHandler + .thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler + + .weak TIM8_UP_TIM13_IRQHandler + .thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler + + .weak TIM8_TRG_COM_TIM14_IRQHandler + .thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler + + .weak TIM8_CC_IRQHandler + .thumb_set TIM8_CC_IRQHandler,Default_Handler + + .weak DMA1_Stream7_IRQHandler + .thumb_set DMA1_Stream7_IRQHandler,Default_Handler + + .weak FSMC_IRQHandler + .thumb_set FSMC_IRQHandler,Default_Handler + + .weak SDIO_IRQHandler + .thumb_set SDIO_IRQHandler,Default_Handler + + .weak TIM5_IRQHandler + .thumb_set TIM5_IRQHandler,Default_Handler + + .weak SPI3_IRQHandler + .thumb_set SPI3_IRQHandler,Default_Handler + + .weak UART4_IRQHandler + .thumb_set UART4_IRQHandler,Default_Handler + + .weak UART5_IRQHandler + .thumb_set UART5_IRQHandler,Default_Handler + + .weak TIM6_DAC_IRQHandler + .thumb_set TIM6_DAC_IRQHandler,Default_Handler + + .weak TIM7_IRQHandler + .thumb_set TIM7_IRQHandler,Default_Handler + + .weak DMA2_Stream0_IRQHandler + .thumb_set DMA2_Stream0_IRQHandler,Default_Handler + + .weak DMA2_Stream1_IRQHandler + .thumb_set DMA2_Stream1_IRQHandler,Default_Handler + + .weak DMA2_Stream2_IRQHandler + .thumb_set DMA2_Stream2_IRQHandler,Default_Handler + + .weak DMA2_Stream3_IRQHandler + .thumb_set DMA2_Stream3_IRQHandler,Default_Handler + + .weak DMA2_Stream4_IRQHandler + .thumb_set DMA2_Stream4_IRQHandler,Default_Handler + + .weak ETH_IRQHandler + .thumb_set ETH_IRQHandler,Default_Handler + + .weak ETH_WKUP_IRQHandler + .thumb_set ETH_WKUP_IRQHandler,Default_Handler + + .weak CAN2_TX_IRQHandler + .thumb_set CAN2_TX_IRQHandler,Default_Handler + + .weak CAN2_RX0_IRQHandler + .thumb_set CAN2_RX0_IRQHandler,Default_Handler + + .weak CAN2_RX1_IRQHandler + .thumb_set CAN2_RX1_IRQHandler,Default_Handler + + .weak CAN2_SCE_IRQHandler + .thumb_set CAN2_SCE_IRQHandler,Default_Handler + + .weak OTG_FS_IRQHandler + .thumb_set OTG_FS_IRQHandler,Default_Handler + + .weak DMA2_Stream5_IRQHandler + .thumb_set DMA2_Stream5_IRQHandler,Default_Handler + + .weak DMA2_Stream6_IRQHandler + .thumb_set DMA2_Stream6_IRQHandler,Default_Handler + + .weak DMA2_Stream7_IRQHandler + .thumb_set DMA2_Stream7_IRQHandler,Default_Handler + + .weak USART6_IRQHandler + .thumb_set USART6_IRQHandler,Default_Handler + + .weak I2C3_EV_IRQHandler + .thumb_set I2C3_EV_IRQHandler,Default_Handler + + .weak I2C3_ER_IRQHandler + .thumb_set I2C3_ER_IRQHandler,Default_Handler + + .weak OTG_HS_EP1_OUT_IRQHandler + .thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler + + .weak OTG_HS_EP1_IN_IRQHandler + .thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler + + .weak OTG_HS_WKUP_IRQHandler + .thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler + + .weak OTG_HS_IRQHandler + .thumb_set OTG_HS_IRQHandler,Default_Handler + + .weak DCMI_IRQHandler + .thumb_set DCMI_IRQHandler,Default_Handler + + .weak HASH_RNG_IRQHandler + .thumb_set HASH_RNG_IRQHandler,Default_Handler + + .weak FPU_IRQHandler + .thumb_set FPU_IRQHandler,Default_Handler