增加了一键下载(不调试)的支持,并更新了makefile,添加了make clean支持

.vscode/launch.json

@@ -3,27 +3,29 @@
     "configurations": [
         // 使用dap-link(如无线调试器时的参考配置)
         {
-            "name": "Debug-dap",
+            "name": "Debug-DAP",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件
+            "executable": "${workspaceRoot}\\build\\${workspaceFolderBasename}.elf", // 要下载到调试器的文件,花括号中的是vscode两个预定义的参数
             "request": "launch",
             "type": "cortex-debug",
-            "device": "STM32F407IG", //使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件）。支持的设备见 https://www.segger.com/downloads/supported-devices.php
+            //使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件）
-            "svdFile": ".\\STM32F407.svd", //svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd
+            //支持的设备见 https://www.segger.com/downloads/supported-devices.php
-            // 该项目的根目录已经提供了C型开发板使用的外设svd文件
+            "device": "STM32F407IG", 
+            //svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd
+            //该项目的根目录已经提供了C型开发板使用的外设svd文件
+            "svdFile": "STM32F407.svd", 
             "servertype": "openocd", //使用的GDB Server
             "configFiles": [
-                ".\\openocd.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件
+                "openocd_dap.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件
             ],
-            // path to your gcc-arm-none-eabi/arm-none-eabi-gdb.exe,如果在cortex-debug的设置中写入了全局路径,这里不需要再写
+            "runToEntryPoint": "main" // 调试时在main函数入口停下
-            // "gdbPath": "D:\\gcc-arm-none-eabi\\bin\\arm-none-eabi-gdb.exe",
+            //"preLaunchTask": "build task",//先运行Build任务编译项目,取消注释即可使用
-            //"preLaunchTask": "build task",//先运行Build任务,取消注释即可使用
         },
-        // 使用j-link时的参考配置
+        // 使用j-link进行调试时的参考配置
         {
-            "name": "Debug-jlink",
+            "name": "Debug-Jlink",
             "cwd": "${workspaceFolder}",
-            "executable": "${workspaceRoot}\\build\\basic_framework.elf",
+            "executable": "${workspaceRoot}\\build\\${workspaceFolderBasename}.elf",
             "request": "launch",
             "type": "cortex-debug",
             "device": "STM32F407IG",
@@ -31,8 +33,8 @@
             "showDevDebugOutput": "none",
             "servertype": "jlink",
             "interface": "swd",
-            "svdFile": ".\\STM32F407.svd",
+            "svdFile": "STM32F407.svd",
             // "preLaunchTask": "build task",//先运行Build任务,取消注释即可使用
         },
-    ]
+    ],
 }

.vscode/tasks.json

@@ -5,12 +5,30 @@
         {
             "label": "build task",         // 任务标签
             "type": "shell",               // 任务类型,因为要调用mingw32-make,是在终端(CMD)里运行的,所以是shell任务
-            "command": "mingw32-make -j24",// 任务命令
+            "command": "mingw32-make -j24",// 任务命令,线程数可以根据自己的电脑修改,建议为核数的4~8倍
             "problemMatcher": [],          
             "group": {
                 "kind": "build",
                 "isDefault": true
             }
-        }
+        },
+        {
+            "label": "download dap",
+            "type": "shell",
+            "command":"make download_dap",
+            "group": {
+                "kind": "build",
+                "isDefault": false,
+            },
+        },
+        {
+            "label": "download jlink",
+            "type": "shell",
+            "command":"make download_jlink",
+            "group": {
+                "kind": "build",
+                "isDefault": false,
+            }
+        },
     ]
 }

HAL_N_Middlewares/Src/main.c

@@ -42,6 +42,8 @@
 #include "ins_task.h"
 #include "can_comm.h"
 #include "master_process.h"
+#include "led_task.h"
+#include "bsp_led.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -127,6 +129,7 @@ int main(void)
 	/* USER CODE BEGIN 2 */
 	RC_init(&huart3);
 	DWT_Init(168);
+	
 	Motor_Init_Config_s config = {
 		.motor_type = GM6020,
 		.can_init_config = {
@@ -146,6 +149,7 @@ int main(void)
 	RefereeInit(&huart6);
 	Vision_Recv_s* recv=VisionInit(&huart1);
 	Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
+	LED_init();
 	/* USER CODE END 2 */
 
 	/* Call init function for freertos objects (in freertos.c) */
@@ -164,11 +168,12 @@ int main(void)
 		/* USER CODE END WHILE */
 		DJIMotorSetRef(djimotor, 10);
 		MotorControlTask();
-		HAL_Delay(10);
+		HAL_Delay(1);
 		CANCommSend(in, (uint8_t*)&tx);
 		tx+=1;
 		rx=(sdf*)CANCommGet(in);
 		VisionSend(&send);
+		led_RGB_flow_task();
 		// INS_Task();
 		/* USER CODE BEGIN 3 */
 	}

Makefile

@@ -292,8 +292,19 @@ $(BUILD_DIR):
 # clean up
 #######################################
 clean:
-	-rm -r -Force $(BUILD_DIR)
+	rmdir /q $(BUILD_DIR)
-  
+
+#######################################
+# download without debugging
+#######################################
+OPENOCD_FLASH_START = 0x08000000 # 如果切换芯片可能需要修改此值
+
+download_dap:
+	openocd -f openocd_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex $(OPENOCD_FLASH_START)" -c reset -c shutdown
+
+download_jlink:
+	openocd -f openocd_jlink.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex $(OPENOCD_FLASH_START)" -c reset -c shutdown
+
 #######################################
 # dependencies
 #######################################

modules/led_light/led_task.c

@@ -37,41 +37,37 @@ uint32_t RGB_flow_color[RGB_FLOW_COLOR_LENGHT + 1] = {0xFF0000FF, 0x0000FF00, 0x
  */
 void led_RGB_flow_task()
 {
-  uint16_t i, j;
+	uint16_t i, j;
-  float delta_alpha, delta_red, delta_green, delta_blue;
+	float delta_alpha, delta_red, delta_green, delta_blue;
-  float alpha, red, green, blue;
+	float alpha, red, green, blue;
-  uint32_t aRGB;
+	uint32_t aRGB;
 
-  while (1)
+	for (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);
 
-    for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++)
+		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);
-      alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
+		delta_green = (float)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (float)((RGB_flow_color[i] & 0x0000FF00) >> 8);
-      red = ((RGB_flow_color[i] & 0x00FF0000) >> 16);
+		delta_blue = (float)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (float)((RGB_flow_color[i] & 0x000000FF) >> 0);
-      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_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
-      delta_red = (float)((RGB_flow_color[i + 1] & 0x00FF0000) >> 16) - (float)((RGB_flow_color[i] & 0x00FF0000) >> 16);
+		delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
-      delta_green = (float)((RGB_flow_color[i + 1] & 0x0000FF00) >> 8) - (float)((RGB_flow_color[i] & 0x0000FF00) >> 8);
+		delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
-      delta_blue = (float)((RGB_flow_color[i + 1] & 0x000000FF) >> 0) - (float)((RGB_flow_color[i] & 0x000000FF) >> 0);
+		delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
+		for (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++)
+		{
+			alpha += delta_alpha;
+			red += delta_red;
+			green += delta_green;
+			blue += delta_blue;
 
-      delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME;
+			aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
-      delta_red /= RGB_FLOW_COLOR_CHANGE_TIME;
+			aRGB_led_show(aRGB);
-      delta_green /= RGB_FLOW_COLOR_CHANGE_TIME;
+		}
-      delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME;
+	}
-      for (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++)
+	HAL_Delay(1);
-      {
-        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;
-        aRGB_led_show(aRGB);
-        osDelay(1);
-      }
-    }
-  }
 }

modules/master_machine/seasky_protocol.c

@@ -5,9 +5,9 @@
  * @brief 湖南大学RoBoMatster串口通信协议
  * @version 0.1
  * @date 2022-11-03
- * 
+ *
  * @copyright Copyright (c) 2022
- * 
+ *
  */
 
 #include "seasky_protocol.h"
@@ -38,7 +38,7 @@ static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
 }
 
 /*检验数据帧头*/
-static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
+static uint8_t protocol_heade_Check(protocol_rm_struct *pro, uint8_t *rx_buf)
 {
     if (rx_buf[0] == PROTOCOL_CMD_ID)
     {
@@ -58,12 +58,12 @@ static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
     此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作
     后续调用通信接口的发送函数发送tx_buf中的对应数据
 */
-void get_protocol_send_data(uint16_t send_id,        //信号id
+void get_protocol_send_data(uint16_t send_id,        // 信号id
                             uint16_t flags_register, // 16位寄存器
-                            float *tx_data,          //待发送的float数据
+                            float *tx_data,          // 待发送的float数据
                             uint8_t float_length,    // float的数据长度
-                            uint8_t *tx_buf,         //待发送的数据帧
+                            uint8_t *tx_buf,         // 待发送的数据帧
-                            uint16_t *tx_buf_len)    //待发送的数据帧长度
+                            uint16_t *tx_buf_len)    // 待发送的数据帧长度
 {
     static uint16_t crc16;
     static uint16_t data_len;
@@ -71,9 +71,9 @@ void get_protocol_send_data(uint16_t send_id,        //信号id
     data_len = float_length * 4 + 2;
     /*帧头部分*/
     tx_buf[0] = PROTOCOL_CMD_ID;
-    tx_buf[1] = data_len & 0xff;               //低位在前
+    tx_buf[1] = data_len & 0xff;        // 低位在前
-    tx_buf[2] = (data_len >> 8) & 0xff;        //低位在前
+    tx_buf[2] = (data_len >> 8) & 0xff; // 低位在前
-    tx_buf[3] = Get_CRC8_Check(&tx_buf[0], 3); //获取CRC8校验位
+    tx_buf[3] = crc_8(&tx_buf[0], 3);   // 获取CRC8校验位
 
     /*数据的信号id*/
     tx_buf[4] = send_id & 0xff;
@@ -90,7 +90,7 @@ void get_protocol_send_data(uint16_t send_id,        //信号id
     }
 
     /*整包校验*/
-    crc16 = Get_CRC16_Check(&tx_buf[0], data_len + 6);
+    crc16 = crc_16(&tx_buf[0], data_len + 6);
     tx_buf[data_len + 6] = crc16 & 0xff;
     tx_buf[data_len + 7] = (crc16 >> 8) & 0xff;
 
@@ -100,21 +100,21 @@ void get_protocol_send_data(uint16_t send_id,        //信号id
     此函数用于处理接收数据，
     返回数据内容的id
 */
-uint16_t get_protocol_info(uint8_t *rx_buf,          //接收到的原始数据
+uint16_t get_protocol_info(uint8_t *rx_buf,          // 接收到的原始数据
-                           uint16_t *flags_register, //接收数据的16位寄存器地址
+                           uint16_t *flags_register, // 接收数据的16位寄存器地址
-                           uint8_t *rx_data)           //接收的float数据存储地址
+                           uint8_t *rx_data)         // 接收的float数据存储地址
 {
     static protocol_rm_struct pro;
     static uint16_t date_length;
-    volatile size_t s=sizeof(pro);
+    volatile size_t s = sizeof(pro);
-    volatile size_t aa=sizeof(Vision_Recv_s);
+    volatile size_t aa = sizeof(Vision_Recv_s);
     if (protocol_heade_Check(&pro, rx_buf))
     {
         date_length = OFFSET_BYTE + pro.header.data_length;
         if (CRC16_Check_Sum(&rx_buf[0], date_length))
         {
             *flags_register = (rx_buf[7] << 8) | rx_buf[6];
-            memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2));
+            memcpy(rx_data, rx_buf + 8, 4 * sizeof(pro.header.data_length - 2));
             return pro.cmd_id;
         }
     }

openocd_jlink.cfg

@@ -0,0 +1,13 @@
+# 选择调试器为jlink
+
+source [find interface/jlink.cfg]
+# source [find interface/jlink.cfg] #使用jlink硬件进行调试,注意其他地方也要更改
+# OpenOCD作为GDB和硬件调试器的桥梁(为硬件提供抽象,把接口给GDB),支持多种硬件调试器.
+# OpenOCD会自动在其根目录的share/openocd/scripts/interface里面寻找对应的配置文件
+
+# 选择接口为SWD
+transport select swd
+
+# 选择目标芯片
+source [find target/stm32f4x.cfg]
+# OpenOCD会自动在其根目录的share/openocd/scripts/target里面寻找对应的配置文件