清除所有的legacy support，增加编译时的内存使用预测和Werror选项，统一命名。

2023-07-14 17:24:44 +08:00 · 2023-07-14 17:24:44 +08:00 · 3faa9f1f8f
parent 8943bdfe5c
commit 3faa9f1f8f
24 changed files with 94 additions and 234 deletions
--- a/.mxproject
+++ b/.mxproject
--- a/14
+++ b/14
@ -109,9 +109,6 @@ Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
 Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
 bsp/dwt/bsp_dwt.c \
 bsp/pwm/bsp_pwm.c \
-bsp/bsp_legacy_support/bsp_temperature.c \
-bsp/bsp_legacy_support/bsp_buzzer.c \
-bsp/bsp_legacy_support/bsp_led.c \
 bsp/gpio/bsp_gpio.c \
 bsp/spi/bsp_spi.c \
 bsp/iic/bsp_iic.c \
@ -120,7 +117,6 @@ bsp/usart/bsp_usart.c \
 bsp/usb/bsp_usb.c \
 bsp/log/bsp_log.c \
 bsp/flash/bsp_flash.c \
-bsp/bsp_init.c \
 modules/algorithm/controller.c \
 modules/algorithm/kalman_filter.c \
 modules/algorithm/QuaternionEKF.c \
@ -132,7 +128,6 @@ modules/imu/BMI088driver.c \
 modules/imu/BMI088Middleware.c \
 modules/imu/ins_task.c \
 modules/ist8310/ist8310.c \
-modules/led_task/led_task.c \
 modules/led/led.c \
 modules/master_machine/master_process.c \
 modules/master_machine/seasky_protocol.c \
@ -247,14 +242,12 @@ C_INCLUDES =  \
 -Ibsp/log \
 -Ibsp/flash \
 -Ibsp/pwm \
-Ibsp/bsp_legacy_support \
 -Ibsp \
 -Imodules/algorithm \
 -Imodules/BMI088 \
 -Imodules/imu \
 -Imodules/ist8310 \
 -Imodules/led \
-Imodules/led_task \
 -Imodules/master_machine \
 -Imodules/motor/DJImotor \
 -Imodules/motor/LKmotor \
@ -271,13 +264,14 @@ C_INCLUDES =  \
 -Imodules/daemon \
 -Imodules/vofa \
 -Imodules/alarm \
-Imodules 
+-Imodules  \
+-IMiddlewares/ST/ARM/DSP/Inc


 # compile gcc flags
 ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -fdata-sections -ffunction-sections

-CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections -fmessage-length=0
+CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections -fmessage-length=0 -Werror

 ifeq ($(DEBUG), 1)
 CFLAGS += -g -gdwarf-2
@ -299,7 +293,7 @@ LIBS = -lc -lm -lnosys  \
 -l:libCMSISDSP.a
 LIBDIR =  \
 -LMiddlewares/ST/ARM/DSP/Lib
-LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto
+LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections -flto -Wl,--no-warn-rwx-segments -Wl,--print-memory-usage

 # default action: build all
 all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
--- a/Src/freertos.c
+++ b/Src/freertos.c
@ -54,13 +54,13 @@ osThreadId defaultTaskHandle;

 /* USER CODE END FunctionPrototypes */

-void StartDefaultTask(void const *argument);
+void StartDefaultTask(void const * argument);

 extern void MX_USB_DEVICE_Init(void);
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

 /* GetIdleTaskMemory prototype (linked to static allocation support) */
-void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);
+void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

 /* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
 static StaticTask_t xIdleTaskTCBBuffer;
@ -80,8 +80,7 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp
  * @param  None
  * @retval None
  */
-void MX_FREERTOS_Init(void)
-{
+void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */
@ -111,6 +110,7 @@ void MX_FREERTOS_Init(void)
  /* add threads, ... */

  /* USER CODE END RTOS_THREADS */
+
 }

 /* USER CODE BEGIN Header_StartDefaultTask */
@ -120,10 +120,10 @@ void MX_FREERTOS_Init(void)
 * @retval None
 */
 /* USER CODE END Header_StartDefaultTask */
-void StartDefaultTask(void const *argument)
+void StartDefaultTask(void const * argument)
 {
  /* init code for USB_DEVICE */
-  MX_USB_DEVICE_Init(); // 默认usb启动任务的位置
+  MX_USB_DEVICE_Init();
  /* USER CODE BEGIN StartDefaultTask */
  osThreadTerminate(NULL); // 避免空置和切换占用cpu
  /* USER CODE END StartDefaultTask */
--- a/application/robot.c
+++ b/application/robot.c
@ -6,7 +6,7 @@
 // 编译warning,提醒开发者修改机器人参数
 #ifndef ROBOT_DEF_PARAM_WARNING
 #define ROBOT_DEF_PARAM_WARNING
-#warning check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!
+#pragma message "check if you have configured the parameters in robot_def.h, IF NOT, please refer to the comments AND DO IT, otherwise the robot will have FATAL ERRORS!!!"
 #endif // !ROBOT_DEF_PARAM_WARNING

 #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
--- a/application/robot_task.h
+++ b/application/robot_task.h
@ -89,7 +89,7 @@ void StartMOTORTASK(void const *argument)
 void StartDAEMONTASK(void const *argument)
 {
    static float daemon_dt, daemon_start;
-    buzzer_init();
+    BuzzerInit();
    LOGINFO("[freeRTOS] Daemon Task Start");
    while (1)
    {
--- a/bsp/bsp_init.c
+++ b/bsp/bsp_init.c
@ -1,17 +0,0 @@
-#include "bsp_init.h"
-#include "bsp_log.h"
-#include "bsp_dwt.h"
-#include "bsp_usb.h"
-#include "bsp_led.h"
-#include "bsp_temperature.h"
-
-// CAN和串口会在注册实例的时候自动初始化,不注册不初始化
-void BSPInit()
-{
-    DWT_Init(168);
-    BSPLogInit();
-
-    // legacy support，待删除,将在实现了led/tempctrl/buzzer的module之后移动到app层进行XXXRegister()
-    LEDInit();
-    IMUTempInit();
-}
--- a/bsp/bsp_init.h
+++ b/bsp/bsp_init.h
@ -1,13 +1,24 @@
 #ifndef BSP_INIT_h
 #define BSP_INIT_h

+#include "bsp_init.h"
+#include "bsp_log.h"
+#include "bsp_dwt.h"
+#include "bsp_usb.h"

 /**
 * @brief bsp层初始化统一入口,这里仅初始化必须的bsp组件,其他组件的初始化在各自的模块中进行
 *        需在实时系统启动前调用,目前由RobotoInit()调用
 * 
+ * @note 其他实例型的外设如CAN和串口会在注册实例的时候自动初始化,不注册不初始化
 */
-void BSPInit();
+// 
+void BSPInit()
+{
+    DWT_Init(168);
+    BSPLogInit();
+}
+

 #endif // !BSP_INIT_h

--- a/bsp/bsp_legacy_support/bsp_buzzer.c
+++ b/bsp/bsp_legacy_support/bsp_buzzer.c
--- a/bsp/bsp_legacy_support/bsp_buzzer.h
+++ b/bsp/bsp_legacy_support/bsp_buzzer.h
--- a/bsp/bsp_legacy_support/bsp_led.c
+++ b/bsp/bsp_legacy_support/bsp_led.c
@ -1,29 +0,0 @@
-#include "bsp_led.h"
-#include "main.h"
-
-#warning this is a legacy support file, please use the new version
-
-extern TIM_HandleTypeDef htim5;
-static uint8_t tmp_output_level = 0;
-
-void LEDInit()
-{
-    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_1);
-    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_2);
-    HAL_TIM_PWM_Start(&htim5, TIM_CHANNEL_3);
-}
-
-void FlowRGBShow(uint32_t aRGB)
-{
-    static uint8_t alpha;
-    static uint16_t red, green, blue;
-
-    alpha = (aRGB & 0xFF000000) >> 24;
-    red = ((aRGB & 0x00FF0000) >> 16) * alpha;
-    green = ((aRGB & 0x0000FF00) >> 8) * alpha;
-    blue = ((aRGB & 0x000000FF) >> 0) * alpha;
-
-    __HAL_TIM_SetCompare(&htim5, TIM_CHANNEL_1, blue);
-    __HAL_TIM_SetCompare(&htim5, TIM_CHANNEL_2, green);
-    __HAL_TIM_SetCompare(&htim5, TIM_CHANNEL_3, red);
-}
--- a/bsp/bsp_legacy_support/bsp_led.h
+++ b/bsp/bsp_legacy_support/bsp_led.h
@ -1,9 +0,0 @@
-#ifndef BSP_LED_H
-#define BSP_LED_H
-
-#include <stdint.h>
-
-void LEDInit();
-extern void FlowRGBShow(uint32_t aRGB);
-
-#endif
--- a/bsp/bsp_legacy_support/bsp_temperature.c
+++ b/bsp/bsp_legacy_support/bsp_temperature.c
@ -1,15 +0,0 @@
-#include "bsp_temperature.h"
-
-#warning this is a legacy support file, please use the new version
-
-extern TIM_HandleTypeDef htim10;
-
-void IMUTempInit()
-{
-    HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
-}
-
-void IMUPWMSet(uint16_t pwm)
-{
-    __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
-}
--- a/bsp/bsp_legacy_support/bsp_temperature.h
+++ b/bsp/bsp_legacy_support/bsp_temperature.h
@ -1,10 +0,0 @@
-#ifndef __BSP_IMU_PWM_H
-#define __BSP_IMU_PWM_H
-
-#include "stdint.h"
-#include "tim.h"
-
-void IMUTempInit();
-extern void IMUPWMSet(uint16_t pwm);
-
-#endif
--- a/bsp/bsp_legacy_support/legacy.md
+++ b/bsp/bsp_legacy_support/legacy.md
@ -1,5 +0,0 @@
-# legacy bsp
-
-这些bsp实现将在v0.1删除,因为他们实际上都是用pwm实现的,应当放在module层,以彻底隔离bsp和CubeMX的初始化代码.现已提供了bsp_pwm的实现.
-
-之后在修改CubeMX的初始化配置之后就不再需要修改bsp的内容了,所有的修改都会通过app层的初始化配置`xxx_Init_Config_s`来实现.
--- a/modules/alarm/buzzer.c
+++ b/modules/alarm/buzzer.c
@ -2,6 +2,7 @@
 #include "buzzer.h"
 #include "bsp_dwt.h"
 #include "string.h"
+
 static PWMInstance *buzzer;
 static uint8_t idx;
 static BuzzzerInstance *buzzer_list[BUZZER_DEVICE_CNT] = {0};
@ -10,11 +11,11 @@ static BuzzzerInstance *buzzer_list[BUZZER_DEVICE_CNT] = {0};
 * @brief 蜂鸣器初始化
 *
 */
-void buzzer_init()
+void BuzzerInit()
 {
    PWM_Init_Config_s buzzer_config = {
        .htim = &htim4,
-            .channel= TIM_CHANNEL_3,
+        .channel = TIM_CHANNEL_3,
        .dutyratio = 0,
        .period = 0.001,
    };
@ -36,7 +37,6 @@ BuzzzerInstance *BuzzerRegister(Buzzer_config_s *config)

    buzzer_list[config->alarm_level] = buzzer_temp;
    return buzzer_temp;
-
 }

 void AlarmSetStatus(BuzzzerInstance *buzzer, AlarmState_e state)
@ -50,11 +50,11 @@ void BuzzerTask()
    for (size_t i = 0; i < BUZZER_DEVICE_CNT; ++i)
    {
        buzz = buzzer_list[i];
-        if(buzz->alarm_level > ALARM_LEVEL_LOW)
+        if (buzz->alarm_level > ALARM_LEVEL_LOW)
        {
            continue;
        }
-        if(buzz->alarm_state == ALARM_OFF)
+        if (buzz->alarm_state == ALARM_OFF)
        {
            PWMSetDutyRatio(buzzer, 0);
        }
@ -64,34 +64,28 @@ void BuzzerTask()
            switch (buzz->octave)
            {
            case OCTAVE_1:
-                    PWMSetPeriod(buzzer, (float)1/DoFreq);
+                PWMSetPeriod(buzzer, (float)1 / DoFreq);
                break;
            case OCTAVE_2:
-                    PWMSetPeriod(buzzer, (float)1/ReFreq);
+                PWMSetPeriod(buzzer, (float)1 / ReFreq);
                break;
            case OCTAVE_3:
-                    PWMSetPeriod(buzzer, (float)1/MiFreq);
+                PWMSetPeriod(buzzer, (float)1 / MiFreq);
                break;
            case OCTAVE_4:
-                    PWMSetPeriod(buzzer, (float)1/FaFreq);
+                PWMSetPeriod(buzzer, (float)1 / FaFreq);
                break;
            case OCTAVE_5:
-                    PWMSetPeriod(buzzer, (float)1/SoFreq);
+                PWMSetPeriod(buzzer, (float)1 / SoFreq);
                break;
            case OCTAVE_6:
-                    PWMSetPeriod(buzzer, (float)1/LaFreq);
+                PWMSetPeriod(buzzer, (float)1 / LaFreq);
                break;
            case OCTAVE_7:
-                    PWMSetPeriod(buzzer, (float)1/SiFreq);
+                PWMSetPeriod(buzzer, (float)1 / SiFreq);
                break;
            }
            break;
        }
-
    }
-
 }
-
-
-
-
--- a/modules/alarm/buzzer.h
+++ b/modules/alarm/buzzer.h
@ -53,7 +53,7 @@ typedef struct
 }BuzzzerInstance;


-void buzzer_init();
+void BuzzerInit();
 void BuzzerTask();
 BuzzzerInstance *BuzzerRegister(Buzzer_config_s *config);
 void AlarmSetStatus(BuzzzerInstance *buzzer, AlarmState_e state);
--- a/modules/imu/BMI088driver.c
+++ b/modules/imu/BMI088driver.c
@ -5,7 +5,7 @@
 #include "bsp_log.h"
 #include <math.h>

-#warning this is a legacy support. test the new BMI088 module as soon as possible.
+#pragma message "this is a legacy support. test the new BMI088 module as soon as possible."

 float BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN;
 float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN;
--- a/modules/imu/ins_task.c
+++ b/modules/imu/ins_task.c
@ -14,8 +14,8 @@
 #include "ins_task.h"
 #include "controller.h"
 #include "QuaternionEKF.h"
-#include "bsp_temperature.h"
 #include "spi.h"
+#include "tim.h"
 #include "user_lib.h"
 #include "general_def.h"
 #include "master_process.h"
@ -35,6 +35,11 @@ static float RefTemp = 40; // 恒温设定温度

 static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);

+static void IMUPWMSet(uint16_t pwm)
+{
+    __HAL_TIM_SetCompare(&htim10, TIM_CHANNEL_1, pwm);
+}
+
 /**
 * @brief 温度控制
 *
@ -79,6 +84,8 @@ attitude_t *INS_Init(void)
    else
        return (attitude_t *)&INS.Gyro;

+    HAL_TIM_PWM_Start(&htim10, TIM_CHANNEL_1);
+
    while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR)
        ;
    IMU_Param.scale[X] = 1;
--- a/modules/led/led.c
+++ b/modules/led/led.c
@ -34,6 +34,13 @@ void LEDSwitch(LEDInstance *_led, uint8_t led_switch)
    }
 }

-void LEDShow()
+void LEDShow(uint32_t aRGB)
 {
+    static uint8_t alpha;
+    static uint16_t red, green, blue;
+
+    alpha = (aRGB & 0xFF000000) >> 24;
+    red = ((aRGB & 0x00FF0000) >> 16) * alpha;
+    green = ((aRGB & 0x0000FF00) >> 8) * alpha;
+    blue = ((aRGB & 0x000000FF) >> 0) * alpha;
 }
--- a/modules/led/led.md
+++ b/modules/led/led.md
@ -0,0 +1,3 @@
+TO BE DONE
+
+请勿使用
--- a/modules/led_task/led.md
+++ b/modules/led_task/led.md
@ -1,8 +0,0 @@
-# led_task
-<p align='right'>neozng1@hnu.edu.cn</p>
-
-> TODO:
-> 1. 预计添加不同错误标志,将错误类型和灯的闪烁频率或颜色等对应起来,方便调试
-
-
-这是legacy support,后续将使用bsp_pwm进行重构
--- a/modules/led_task/led_task.c
+++ b/modules/led_task/led_task.c
@ -1,59 +0,0 @@
-/**
- * @file led_task.c
- * @author DJI RM
- * @author modified by NeoZeng neozng1@hnu.edu.cn
- * @brief 流水灯效
- * @version 0.1
- * @date 2022-11-30
- *
- * @copyright Copyright (c) 2022
- *
- */
-
-#warning this is a legacy support file, please build the new 'led' module as soon as possible
-
-#include "led_task.h"
-#include <stdint.h>
-#include "bsp_led.h"
-#include "main.h"
-
-#define RGB_FLOW_COLOR_CHANGE_TIME 1000
-#define RGB_FLOW_COLOR_LENGHT 6
-
-// 蓝 -> 绿(灭) -> 红 -> 蓝(灭) -> 绿 -> 红(灭) -> 蓝
-uint32_t RGB_flow_color[RGB_FLOW_COLOR_LENGHT + 1] = {0xFF0000FF, 0x0000FF00, 0xFFFF0000, 0x000000FF, 0xFF00FF00, 0x00FF0000, 0xFF0000FF};
-
-void led_RGB_flow_task()
-{
-	static float delta_alpha, delta_red, delta_green, delta_blue;
-	static float alpha, red, green, blue;
-	static uint32_t aRGB;
-
-	for (size_t i = 0; i < RGB_FLOW_COLOR_LENGHT; ++i)
-	{
-		alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
-		red = ((RGB_flow_color[i] & 0x00FF0000) >> 16);
-		green = ((RGB_flow_color[i] & 0x0000FF00) >> 8);
-		blue = ((RGB_flow_color[i] & 0x000000FF) >> 0);
-
-		delta_alpha = (float)((RGB_flow_color[i + 1] & 0xFF000000) >> 24) - (float)((RGB_flow_color[i] & 0xFF000000) >> 24);
-		delta_red = (float)((RGB_flow_color[i + 1] & 0x00FF0000) >> 16) - (float)((RGB_flow_color[i] & 0x00FF0000) >> 16);
-		delta_green = (float)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (float)((RGB_flow_color[i] & 0x0000FF00) >> 8);
-		delta_blue = (float)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (float)((RGB_flow_color[i] & 0x000000FF) >> 0);
-
-		delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
-		delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
-		delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
-		delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
-		for (size_t j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; ++j)
-		{
-			alpha += delta_alpha;
-			red += delta_red;
-			green += delta_green;
-			blue += delta_blue;
-
-			aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
-			FlowRGBShow(aRGB);
-		}
-	}
-}
--- a/modules/led_task/led_task.h
+++ b/modules/led_task/led_task.h
@ -1,7 +0,0 @@
-
-#ifndef LED_TRIGGER_TASK_H
-#define LED_TRIGGER_TASK_H
-
-void led_RGB_flow_task();
-
-#endif
--- a/必须做&禁止做.md
+++ b/必须做&禁止做.md
@ -1,14 +1,13 @@
 # MUST & MUSTNOTMUSTNOT

+## 禁止过度摸鱼
+
+提供工作效率!
 ## 禁止在临界区使用延时，这会导致因中断关闭使得定时器无法进入中断更新时间，进而卡死系统

 除非你使用的是基于计数寄存器差值的延时方法,或阻塞式的for延时。
 **若有必要，应该使用`bsp_dwt.h`提供的接口。

-## 禁止摸鱼
-
-提供工作效率!
-
 ## 禁止图方便直接将电机/电调连接在开发板的xt30接口上，否则电机的反电动势可能烧毁开发板

 后续考虑增加一个xt30转接器，其上实现隔离电路，再连接开发板充当分电板。
@ -18,3 +17,7 @@
 用于调试的条件编译和（若有可能）log输出也是必须的。

 另外，“treat your user as idot！”
+
+## NO WARNING
+
+makefile中已经启用了`-Werror`选项，所有的warning都会被视为error，别妄图带着warning通过编译！