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去掉了Config_ShootInit

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This commit is contained in:
yxming66 2025-11-05 17:13:49 +08:00
parent 520a732db0
commit 2c7e90fda1
30 changed files with 1870 additions and 188 deletions
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11
.clangd Normal file
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@ -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

3
.gitignore vendored Normal file
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@ -0,0 +1,3 @@
build
mx.scratch
!.settings

7
.mxproject
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File diff suppressed because one or more lines are too long

147
.settings/bundles-lock.store.json Normal file
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@ -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"
}
]
}
]
}

20
.settings/bundles.store.json Normal file
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{
"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"
}
]
}

6
.settings/ide.store.json Normal file
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@ -0,0 +1,6 @@
{
"device": "STM32F407IGH6",
"core": "Cortex-M4",
"order": 0,
"toolchain": "GCC"
}

8
.vscode/c_cpp_properties.json vendored Normal file
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{
"configurations": [
{
"name": "STM32",
"compileCommands": "${workspaceFolder}/build/Debug/compile_commands.json"
}
]
}

15
.vscode/settings.json vendored
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@ -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"
]
}

98
CMakeLists.txt Normal file
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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
)

38
CMakePresets.json Normal file
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{
"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"
}
]
}

244
Core/Src/syscalls.c Normal file
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/**
******************************************************************************
* @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 <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <stdio.h>
#include <signal.h>
#include <time.h>
#include <sys/time.h>
#include <sys/times.h>
/* 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__

87
Core/Src/sysmem.c Normal file
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@ -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 <errno.h>
#include <stdint.h>
#include <stddef.h>
/**
* 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

0
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c → Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c vendored
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0
Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h → Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h vendored
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269
STM32F407XX_FLASH.ld Normal file
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@ -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
**
** <h2><center>&copy; COPYRIGHT(c) 2025 STMicroelectronics</center></h2>
**
** 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:* ( * )
}
}

140
User/module/config.c
View File

@ -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,
.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 ------------------------------------------------------- */
@ -117,42 +180,3 @@ 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;
}

3
User/module/config.h
View File

@ -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

120
User/module/shoot_control.c → User/module/shoot.c
View File

@ -2,39 +2,9 @@
* 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_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 <string.h>
#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;i<fric_num;i++)
{
@ -290,7 +279,6 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
static float pos;
switch(s->running_state)
{
case SHOOT_STATE_IDLE:/*熄火等待*/
for(int i=0;i<fric_num;i++)
{ /* 转速归零 */
@ -317,11 +305,10 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
break;
case SHOOT_STATE_READY:/*准备射击*/
Shoot_CaluTargetRPM(s,233);
for(int i=0;i<fric_num;i++)
{
uint8_t level=s->param->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],
@ -390,7 +377,7 @@ int8_t Shoot_RunningFSM(Shoot_t *s, Shoot_CMD_t *cmd)
for(int i=0;i<fric_num;i++)
{
uint8_t level=s->param->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;i<fric_num;i++){
@ -621,7 +575,9 @@ int8_t Shoot_Control(Shoot_t *s, Shoot_CMD_t *cmd)
s->dt =(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;
}

42
User/module/shoot_control.h → User/module/shoot.h
View File

@ -4,6 +4,7 @@
#pragma once
#include <stddef.h>
#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 {
@ -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*/
@ -89,11 +94,10 @@ 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;
@ -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

7
User/task/config.yaml
View File

@ -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

3
User/task/init.c
View File

@ -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

9
User/task/rc.c
View File

@ -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) {
@ -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 */
}

16
User/task/shoot_ctrl.c
View File

@ -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 */
}

7
User/task/user_task.c
View File

@ -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,
};

13
User/task/user_task.h
View File

@ -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
}

43
cmake/gcc-arm-none-eabi.cmake Normal file
View File

@ -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")

65
cmake/starm-clang.cmake Normal file
View File

@ -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 ")

115
cmake/stm32cubemx/CMakeLists.txt Normal file
View File

@ -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
$<$<CONFIG:Debug>: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()

2
shoot.ioc
View File

@ -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=

508
startup_stm32f407xx.s Normal file
View File

@ -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