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add log.c

This commit is contained in:
NeoZng 2022-11-11 21:20:58 +08:00
parent a1509ee665
commit ebb33406bb
15 changed files with 3824 additions and 9 deletions
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3
.vscode/settings.json vendored
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@ -44,6 +44,7 @@
"master_process.h": "c",
"stdint-gcc.h": "c",
"string.h": "c",
"motor_def.h": "c"
"motor_def.h": "c",
"stdio.h": "c"
}
}

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HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/Config/SEGGER_RTT_Conf.h vendored Normal file
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/*********************************************************************
* SEGGER Microcontroller GmbH *
* The Embedded Experts *
**********************************************************************
* *
* (c) 1995 - 2021 SEGGER Microcontroller GmbH *
* *
* www.segger.com Support: support@segger.com *
* *
**********************************************************************
* *
* SEGGER RTT * Real Time Transfer for embedded targets *
* *
**********************************************************************
* *
* All rights reserved. *
* *
* SEGGER strongly recommends to not make any changes *
* to or modify the source code of this software in order to stay *
* compatible with the RTT protocol and J-Link. *
* *
* Redistribution and use in source and binary forms, with or *
* without modification, are permitted provided that the following *
* condition is met: *
* *
* o Redistributions of source code must retain the above copyright *
* notice, this condition and the following disclaimer. *
* *
* 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 SEGGER Microcontroller 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. *
* *
**********************************************************************
* *
* RTT version: 7.58c *
* *
**********************************************************************
---------------------------END-OF-HEADER------------------------------
File : SEGGER_RTT_Conf.h
Purpose : Implementation of SEGGER real-time transfer (RTT) which
allows real-time communication on targets which support
debugger memory accesses while the CPU is running.
Revision: $Rev: 24316 $
*/
#ifndef SEGGER_RTT_CONF_H
#define SEGGER_RTT_CONF_H
#ifdef __IAR_SYSTEMS_ICC__
#include <intrinsics.h>
#endif
/*********************************************************************
*
* Defines, configurable
*
**********************************************************************
*/
//
// Take in and set to correct values for Cortex-A systems with CPU cache
//
//#define SEGGER_RTT_CPU_CACHE_LINE_SIZE (32) // Largest cache line size (in bytes) in the current system
//#define SEGGER_RTT_UNCACHED_OFF (0xFB000000) // Address alias where RTT CB and buffers can be accessed uncached
//
// Most common case:
// Up-channel 0: RTT
// Up-channel 1: SystemView
//
#ifndef SEGGER_RTT_MAX_NUM_UP_BUFFERS
#define SEGGER_RTT_MAX_NUM_UP_BUFFERS (3) // Max. number of up-buffers (T->H) available on this target (Default: 3)
#endif
//
// Most common case:
// Down-channel 0: RTT
// Down-channel 1: SystemView
//
#ifndef SEGGER_RTT_MAX_NUM_DOWN_BUFFERS
#define SEGGER_RTT_MAX_NUM_DOWN_BUFFERS (3) // Max. number of down-buffers (H->T) available on this target (Default: 3)
#endif
#ifndef BUFFER_SIZE_UP
#define BUFFER_SIZE_UP (1024) // Size of the buffer for terminal output of target, up to host (Default: 1k)
#endif
#ifndef BUFFER_SIZE_DOWN
#define BUFFER_SIZE_DOWN (16) // Size of the buffer for terminal input to target from host (Usually keyboard input) (Default: 16)
#endif
#ifndef SEGGER_RTT_PRINTF_BUFFER_SIZE
#define SEGGER_RTT_PRINTF_BUFFER_SIZE (64u) // Size of buffer for RTT printf to bulk-send chars via RTT (Default: 64)
#endif
#ifndef SEGGER_RTT_MODE_DEFAULT
#define SEGGER_RTT_MODE_DEFAULT SEGGER_RTT_MODE_NO_BLOCK_SKIP // Mode for pre-initialized terminal channel (buffer 0)
#endif
/*********************************************************************
*
* RTT memcpy configuration
*
* memcpy() is good for large amounts of data,
* but the overhead is big for small amounts, which are usually stored via RTT.
* With SEGGER_RTT_MEMCPY_USE_BYTELOOP a simple byte loop can be used instead.
*
* SEGGER_RTT_MEMCPY() can be used to replace standard memcpy() in RTT functions.
* This is may be required with memory access restrictions,
* such as on Cortex-A devices with MMU.
*/
#ifndef SEGGER_RTT_MEMCPY_USE_BYTELOOP
#define SEGGER_RTT_MEMCPY_USE_BYTELOOP 0 // 0: Use memcpy/SEGGER_RTT_MEMCPY, 1: Use a simple byte-loop
#endif
//
// Example definition of SEGGER_RTT_MEMCPY to external memcpy with GCC toolchains and Cortex-A targets
//
//#if ((defined __SES_ARM) || (defined __CROSSWORKS_ARM) || (defined __GNUC__)) && (defined (__ARM_ARCH_7A__))
// #define SEGGER_RTT_MEMCPY(pDest, pSrc, NumBytes) SEGGER_memcpy((pDest), (pSrc), (NumBytes))
//#endif
//
// Target is not allowed to perform other RTT operations while string still has not been stored completely.
// Otherwise we would probably end up with a mixed string in the buffer.
// If using RTT from within interrupts, multiple tasks or multi processors, define the SEGGER_RTT_LOCK() and SEGGER_RTT_UNLOCK() function here.
//
// SEGGER_RTT_MAX_INTERRUPT_PRIORITY can be used in the sample lock routines on Cortex-M3/4.
// Make sure to mask all interrupts which can send RTT data, i.e. generate SystemView events, or cause task switches.
// When high-priority interrupts must not be masked while sending RTT data, SEGGER_RTT_MAX_INTERRUPT_PRIORITY needs to be adjusted accordingly.
// (Higher priority = lower priority number)
// Default value for embOS: 128u
// Default configuration in FreeRTOS: configMAX_SYSCALL_INTERRUPT_PRIORITY: ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
// In case of doubt mask all interrupts: 1 << (8 - BASEPRI_PRIO_BITS) i.e. 1 << 5 when 3 bits are implemented in NVIC
// or define SEGGER_RTT_LOCK() to completely disable interrupts.
//
#ifndef SEGGER_RTT_MAX_INTERRUPT_PRIORITY
#define SEGGER_RTT_MAX_INTERRUPT_PRIORITY (0x20) // Interrupt priority to lock on SEGGER_RTT_LOCK on Cortex-M3/4 (Default: 0x20)
#endif
/*********************************************************************
*
* RTT lock configuration for SEGGER Embedded Studio,
* Rowley CrossStudio and GCC
*/
#if ((defined(__SES_ARM) || defined(__SES_RISCV) || defined(__CROSSWORKS_ARM) || defined(__GNUC__) || defined(__clang__)) && !defined (__CC_ARM) && !defined(WIN32))
#if (defined(__ARM_ARCH_6M__) || defined(__ARM_ARCH_8M_BASE__))
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
__asm volatile ("mrs %0, primask \n\t" \
"movs r1, #1 \n\t" \
"msr primask, r1 \n\t" \
: "=r" (_SEGGER_RTT__LockState) \
: \
: "r1", "cc" \
);
#define SEGGER_RTT_UNLOCK() __asm volatile ("msr primask, %0 \n\t" \
: \
: "r" (_SEGGER_RTT__LockState) \
: \
); \
}
#elif (defined(__ARM_ARCH_7M__) || defined(__ARM_ARCH_7EM__) || defined(__ARM_ARCH_8M_MAIN__))
#ifndef SEGGER_RTT_MAX_INTERRUPT_PRIORITY
#define SEGGER_RTT_MAX_INTERRUPT_PRIORITY (0x20)
#endif
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
__asm volatile ("mrs %0, basepri \n\t" \
"mov r1, %1 \n\t" \
"msr basepri, r1 \n\t" \
: "=r" (_SEGGER_RTT__LockState) \
: "i"(SEGGER_RTT_MAX_INTERRUPT_PRIORITY) \
: "r1", "cc" \
);
#define SEGGER_RTT_UNLOCK() __asm volatile ("msr basepri, %0 \n\t" \
: \
: "r" (_SEGGER_RTT__LockState) \
: \
); \
}
#elif (defined(__ARM_ARCH_7A__) || defined(__ARM_ARCH_7R__))
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
__asm volatile ("mrs r1, CPSR \n\t" \
"mov %0, r1 \n\t" \
"orr r1, r1, #0xC0 \n\t" \
"msr CPSR_c, r1 \n\t" \
: "=r" (_SEGGER_RTT__LockState) \
: \
: "r1", "cc" \
);
#define SEGGER_RTT_UNLOCK() __asm volatile ("mov r0, %0 \n\t" \
"mrs r1, CPSR \n\t" \
"bic r1, r1, #0xC0 \n\t" \
"and r0, r0, #0xC0 \n\t" \
"orr r1, r1, r0 \n\t" \
"msr CPSR_c, r1 \n\t" \
: \
: "r" (_SEGGER_RTT__LockState) \
: "r0", "r1", "cc" \
); \
}
#elif defined(__riscv) || defined(__riscv_xlen)
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
__asm volatile ("csrr %0, mstatus \n\t" \
"csrci mstatus, 8 \n\t" \
"andi %0, %0, 8 \n\t" \
: "=r" (_SEGGER_RTT__LockState) \
: \
: \
);
#define SEGGER_RTT_UNLOCK() __asm volatile ("csrr a1, mstatus \n\t" \
"or %0, %0, a1 \n\t" \
"csrs mstatus, %0 \n\t" \
: \
: "r" (_SEGGER_RTT__LockState) \
: "a1" \
); \
}
#else
#define SEGGER_RTT_LOCK()
#define SEGGER_RTT_UNLOCK()
#endif
#endif
/*********************************************************************
*
* RTT lock configuration for IAR EWARM
*/
#ifdef __ICCARM__
#if (defined (__ARM6M__) && (__CORE__ == __ARM6M__)) || \
(defined (__ARM8M_BASELINE__) && (__CORE__ == __ARM8M_BASELINE__))
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = __get_PRIMASK(); \
__set_PRIMASK(1);
#define SEGGER_RTT_UNLOCK() __set_PRIMASK(_SEGGER_RTT__LockState); \
}
#elif (defined (__ARM7EM__) && (__CORE__ == __ARM7EM__)) || \
(defined (__ARM7M__) && (__CORE__ == __ARM7M__)) || \
(defined (__ARM8M_MAINLINE__) && (__CORE__ == __ARM8M_MAINLINE__)) || \
(defined (__ARM8M_MAINLINE__) && (__CORE__ == __ARM8M_MAINLINE__))
#ifndef SEGGER_RTT_MAX_INTERRUPT_PRIORITY
#define SEGGER_RTT_MAX_INTERRUPT_PRIORITY (0x20)
#endif
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = __get_BASEPRI(); \
__set_BASEPRI(SEGGER_RTT_MAX_INTERRUPT_PRIORITY);
#define SEGGER_RTT_UNLOCK() __set_BASEPRI(_SEGGER_RTT__LockState); \
}
#elif (defined (__ARM7A__) && (__CORE__ == __ARM7A__)) || \
(defined (__ARM7R__) && (__CORE__ == __ARM7R__))
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
__asm volatile ("mrs r1, CPSR \n\t" \
"mov %0, r1 \n\t" \
"orr r1, r1, #0xC0 \n\t" \
"msr CPSR_c, r1 \n\t" \
: "=r" (_SEGGER_RTT__LockState) \
: \
: "r1", "cc" \
);
#define SEGGER_RTT_UNLOCK() __asm volatile ("mov r0, %0 \n\t" \
"mrs r1, CPSR \n\t" \
"bic r1, r1, #0xC0 \n\t" \
"and r0, r0, #0xC0 \n\t" \
"orr r1, r1, r0 \n\t" \
"msr CPSR_c, r1 \n\t" \
: \
: "r" (_SEGGER_RTT__LockState) \
: "r0", "r1", "cc" \
); \
}
#endif
#endif
/*********************************************************************
*
* RTT lock configuration for IAR RX
*/
#ifdef __ICCRX__
#define SEGGER_RTT_LOCK() { \
unsigned long _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = __get_interrupt_state(); \
__disable_interrupt();
#define SEGGER_RTT_UNLOCK() __set_interrupt_state(_SEGGER_RTT__LockState); \
}
#endif
/*********************************************************************
*
* RTT lock configuration for IAR RL78
*/
#ifdef __ICCRL78__
#define SEGGER_RTT_LOCK() { \
__istate_t _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = __get_interrupt_state(); \
__disable_interrupt();
#define SEGGER_RTT_UNLOCK() __set_interrupt_state(_SEGGER_RTT__LockState); \
}
#endif
/*********************************************************************
*
* RTT lock configuration for KEIL ARM
*/
#ifdef __CC_ARM
#if (defined __TARGET_ARCH_6S_M)
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
register unsigned char _SEGGER_RTT__PRIMASK __asm( "primask"); \
_SEGGER_RTT__LockState = _SEGGER_RTT__PRIMASK; \
_SEGGER_RTT__PRIMASK = 1u; \
__schedule_barrier();
#define SEGGER_RTT_UNLOCK() _SEGGER_RTT__PRIMASK = _SEGGER_RTT__LockState; \
__schedule_barrier(); \
}
#elif (defined(__TARGET_ARCH_7_M) || defined(__TARGET_ARCH_7E_M))
#ifndef SEGGER_RTT_MAX_INTERRUPT_PRIORITY
#define SEGGER_RTT_MAX_INTERRUPT_PRIORITY (0x20)
#endif
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
register unsigned char BASEPRI __asm( "basepri"); \
_SEGGER_RTT__LockState = BASEPRI; \
BASEPRI = SEGGER_RTT_MAX_INTERRUPT_PRIORITY; \
__schedule_barrier();
#define SEGGER_RTT_UNLOCK() BASEPRI = _SEGGER_RTT__LockState; \
__schedule_barrier(); \
}
#endif
#endif
/*********************************************************************
*
* RTT lock configuration for TI ARM
*/
#ifdef __TI_ARM__
#if defined (__TI_ARM_V6M0__)
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = __get_PRIMASK(); \
__set_PRIMASK(1);
#define SEGGER_RTT_UNLOCK() __set_PRIMASK(_SEGGER_RTT__LockState); \
}
#elif (defined (__TI_ARM_V7M3__) || defined (__TI_ARM_V7M4__))
#ifndef SEGGER_RTT_MAX_INTERRUPT_PRIORITY
#define SEGGER_RTT_MAX_INTERRUPT_PRIORITY (0x20)
#endif
#define SEGGER_RTT_LOCK() { \
unsigned int _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = _set_interrupt_priority(SEGGER_RTT_MAX_INTERRUPT_PRIORITY);
#define SEGGER_RTT_UNLOCK() _set_interrupt_priority(_SEGGER_RTT__LockState); \
}
#endif
#endif
/*********************************************************************
*
* RTT lock configuration for CCRX
*/
#ifdef __RX
#include <machine.h>
#define SEGGER_RTT_LOCK() { \
unsigned long _SEGGER_RTT__LockState; \
_SEGGER_RTT__LockState = get_psw() & 0x010000; \
clrpsw_i();
#define SEGGER_RTT_UNLOCK() set_psw(get_psw() | _SEGGER_RTT__LockState); \
}
#endif
/*********************************************************************
*
* RTT lock configuration for embOS Simulation on Windows
* (Can also be used for generic RTT locking with embOS)
*/
#if defined(WIN32) || defined(SEGGER_RTT_LOCK_EMBOS)
void OS_SIM_EnterCriticalSection(void);
void OS_SIM_LeaveCriticalSection(void);
#define SEGGER_RTT_LOCK() { \
OS_SIM_EnterCriticalSection();
#define SEGGER_RTT_UNLOCK() OS_SIM_LeaveCriticalSection(); \
}
#endif
/*********************************************************************
*
* RTT lock configuration fallback
*/
#ifndef SEGGER_RTT_LOCK
#define SEGGER_RTT_LOCK() // Lock RTT (nestable) (i.e. disable interrupts)
#endif
#ifndef SEGGER_RTT_UNLOCK
#define SEGGER_RTT_UNLOCK() // Unlock RTT (nestable) (i.e. enable previous interrupt lock state)
#endif
#endif
/*************************** End of file ****************************/

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/*********************************************************************
* SEGGER Microcontroller GmbH *
* The Embedded Experts *
**********************************************************************
* *
* (c) 1995 - 2021 SEGGER Microcontroller GmbH *
* *
* www.segger.com Support: support@segger.com *
* *
**********************************************************************
* *
* SEGGER RTT * Real Time Transfer for embedded targets *
* *
**********************************************************************
* *
* All rights reserved. *
* *
* SEGGER strongly recommends to not make any changes *
* to or modify the source code of this software in order to stay *
* compatible with the RTT protocol and J-Link. *
* *
* Redistribution and use in source and binary forms, with or *
* without modification, are permitted provided that the following *
* condition is met: *
* *
* o Redistributions of source code must retain the above copyright *
* notice, this condition and the following disclaimer. *
* *
* 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 SEGGER Microcontroller 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. *
* *
**********************************************************************
* *
* RTT version: 7.58c *
* *
**********************************************************************
---------------------------END-OF-HEADER------------------------------
File : SEGGER_RTT.h
Purpose : Implementation of SEGGER real-time transfer which allows
real-time communication on targets which support debugger
memory accesses while the CPU is running.
Revision: $Rev: 24346 $
----------------------------------------------------------------------
*/
#ifndef SEGGER_RTT_H
#define SEGGER_RTT_H
#include "../Config/SEGGER_RTT_Conf.h"
/*********************************************************************
*
* Defines, defaults
*
**********************************************************************
*/
#ifndef RTT_USE_ASM
//
// Some cores support out-of-order memory accesses (reordering of memory accesses in the core)
// For such cores, we need to define a memory barrier to guarantee the order of certain accesses to the RTT ring buffers.
// Needed for:
// Cortex-M7 (ARMv7-M)
// Cortex-M23 (ARM-v8M)
// Cortex-M33 (ARM-v8M)
// Cortex-A/R (ARM-v7A/R)
//
// We do not explicitly check for "Embedded Studio" as the compiler in use determines what we support.
// You can use an external toolchain like IAR inside ES. So there is no point in checking for "Embedded Studio"
//
#if (defined __CROSSWORKS_ARM) // Rowley Crossworks
#define _CC_HAS_RTT_ASM_SUPPORT 1
#if (defined __ARM_ARCH_7M__) // Cortex-M3
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#elif (defined __ARM_ARCH_7EM__) // Cortex-M4/M7
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif (defined __ARM_ARCH_8M_BASE__) // Cortex-M23
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif (defined __ARM_ARCH_8M_MAIN__) // Cortex-M33
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#else
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#endif
#elif (defined __ARMCC_VERSION)
//
// ARM compiler
// ARM compiler V6.0 and later is clang based.
// Our ASM part is compatible to clang.
//
#if (__ARMCC_VERSION >= 6000000)
#define _CC_HAS_RTT_ASM_SUPPORT 1
#else
#define _CC_HAS_RTT_ASM_SUPPORT 0
#endif
#if (defined __ARM_ARCH_6M__) // Cortex-M0 / M1
#define _CORE_HAS_RTT_ASM_SUPPORT 0 // No ASM support for this architecture
#elif (defined __ARM_ARCH_7M__) // Cortex-M3
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#elif (defined __ARM_ARCH_7EM__) // Cortex-M4/M7
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif (defined __ARM_ARCH_8M_BASE__) // Cortex-M23
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif (defined __ARM_ARCH_8M_MAIN__) // Cortex-M33
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif ((defined __ARM_ARCH_7A__) || (defined __ARM_ARCH_7R__)) // Cortex-A/R 32-bit ARMv7-A/R
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#else
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#endif
#elif ((defined __GNUC__) || (defined __clang__))
//
// GCC / Clang
//
#define _CC_HAS_RTT_ASM_SUPPORT 1
// ARM 7/9: __ARM_ARCH_5__ / __ARM_ARCH_5E__ / __ARM_ARCH_5T__ / __ARM_ARCH_5T__ / __ARM_ARCH_5TE__
#if (defined __ARM_ARCH_7M__) // Cortex-M3
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#elif (defined __ARM_ARCH_7EM__) // Cortex-M4/M7
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1 // Only Cortex-M7 needs a DMB but we cannot distinguish M4 and M7 here...
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif (defined __ARM_ARCH_8M_BASE__) // Cortex-M23
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif (defined __ARM_ARCH_8M_MAIN__) // Cortex-M33
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#elif ((defined __ARM_ARCH_7A__) || (defined __ARM_ARCH_7R__)) // Cortex-A/R 32-bit ARMv7-A/R
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() __asm volatile ("dmb\n" : : :);
#else
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#endif
#elif ((defined __IASMARM__) || (defined __ICCARM__))
//
// IAR assembler/compiler
//
#define _CC_HAS_RTT_ASM_SUPPORT 1
#if (__VER__ < 6300000)
#define VOLATILE
#else
#define VOLATILE volatile
#endif
#if (defined __ARM7M__) // Needed for old versions that do not know the define yet
#if (__CORE__ == __ARM7M__) // Cortex-M3
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#endif
#endif
#if (defined __ARM7EM__)
#if (__CORE__ == __ARM7EM__) // Cortex-M4/M7
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() asm VOLATILE ("DMB");
#endif
#endif
#if (defined __ARM8M_BASELINE__)
#if (__CORE__ == __ARM8M_BASELINE__) // Cortex-M23
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() asm VOLATILE ("DMB");
#endif
#endif
#if (defined __ARM8M_MAINLINE__)
#if (__CORE__ == __ARM8M_MAINLINE__) // Cortex-M33
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() asm VOLATILE ("DMB");
#endif
#endif
#if (defined __ARM8EM_MAINLINE__)
#if (__CORE__ == __ARM8EM_MAINLINE__) // Cortex-???
#define _CORE_HAS_RTT_ASM_SUPPORT 1
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() asm VOLATILE ("DMB");
#endif
#endif
#if (defined __ARM7A__)
#if (__CORE__ == __ARM7A__) // Cortex-A 32-bit ARMv7-A
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() asm VOLATILE ("DMB");
#endif
#endif
#if (defined __ARM7R__)
#if (__CORE__ == __ARM7R__) // Cortex-R 32-bit ARMv7-R
#define _CORE_NEEDS_DMB 1
#define RTT__DMB() asm VOLATILE ("DMB");
#endif
#endif
// TBD: __ARM8A__ => Cortex-A 64-bit ARMv8-A
// TBD: __ARM8R__ => Cortex-R 64-bit ARMv8-R
#else
//
// Other compilers
//
#define _CC_HAS_RTT_ASM_SUPPORT 0
#define _CORE_HAS_RTT_ASM_SUPPORT 0
#endif
//
// If IDE and core support the ASM version, enable ASM version by default
//
#ifndef _CORE_HAS_RTT_ASM_SUPPORT
#define _CORE_HAS_RTT_ASM_SUPPORT 0 // Default for unknown cores
#endif
#if (_CC_HAS_RTT_ASM_SUPPORT && _CORE_HAS_RTT_ASM_SUPPORT)
#define RTT_USE_ASM (1)
#else
#define RTT_USE_ASM (0)
#endif
#endif
#ifndef _CORE_NEEDS_DMB
#define _CORE_NEEDS_DMB 0
#endif
#ifndef RTT__DMB
#if _CORE_NEEDS_DMB
#error "Don't know how to place inline assembly for DMB"
#else
#define RTT__DMB()
#endif
#endif
#ifndef SEGGER_RTT_CPU_CACHE_LINE_SIZE
#define SEGGER_RTT_CPU_CACHE_LINE_SIZE (0) // On most target systems where RTT is used, we do not have a CPU cache, therefore 0 is a good default here
#endif
#ifndef SEGGER_RTT_UNCACHED_OFF
#if SEGGER_RTT_CPU_CACHE_LINE_SIZE
#error "SEGGER_RTT_UNCACHED_OFF must be defined when setting SEGGER_RTT_CPU_CACHE_LINE_SIZE != 0"
#else
#define SEGGER_RTT_UNCACHED_OFF (0)
#endif
#endif
#if RTT_USE_ASM
#if SEGGER_RTT_CPU_CACHE_LINE_SIZE
#error "RTT_USE_ASM is not available if SEGGER_RTT_CPU_CACHE_LINE_SIZE != 0"
#endif
#endif
#ifndef SEGGER_RTT_ASM // defined when SEGGER_RTT.h is included from assembly file
#include <stdlib.h>
#include <stdarg.h>
/*********************************************************************
*
* Defines, fixed
*
**********************************************************************
*/
//
// Determine how much we must pad the control block to make it a multiple of a cache line in size
// Assuming: U8 = 1B
// U16 = 2B
// U32 = 4B
// U8/U16/U32* = 4B
//
#if SEGGER_RTT_CPU_CACHE_LINE_SIZE // Avoid division by zero in case we do not have any cache
#define SEGGER_RTT__ROUND_UP_2_CACHE_LINE_SIZE(NumBytes) (((NumBytes + SEGGER_RTT_CPU_CACHE_LINE_SIZE - 1) / SEGGER_RTT_CPU_CACHE_LINE_SIZE) * SEGGER_RTT_CPU_CACHE_LINE_SIZE)
#else
#define SEGGER_RTT__ROUND_UP_2_CACHE_LINE_SIZE(NumBytes) (NumBytes)
#endif
#define SEGGER_RTT__CB_SIZE (16 + 4 + 4 + (SEGGER_RTT_MAX_NUM_UP_BUFFERS * 24) + (SEGGER_RTT_MAX_NUM_DOWN_BUFFERS * 24))
#define SEGGER_RTT__CB_PADDING (SEGGER_RTT__ROUND_UP_2_CACHE_LINE_SIZE(SEGGER_RTT__CB_SIZE) - SEGGER_RTT__CB_SIZE)
/*********************************************************************
*
* Types
*
**********************************************************************
*/
//
// Description for a circular buffer (also called "ring buffer")
// which is used as up-buffer (T->H)
//
typedef struct {
const char* sName; // Optional name. Standard names so far are: "Terminal", "SysView", "J-Scope_t4i4"
char* pBuffer; // Pointer to start of buffer
unsigned SizeOfBuffer; // Buffer size in bytes. Note that one byte is lost, as this implementation does not fill up the buffer in order to avoid the problem of being unable to distinguish between full and empty.
unsigned WrOff; // Position of next item to be written by either target.
volatile unsigned RdOff; // Position of next item to be read by host. Must be volatile since it may be modified by host.
unsigned Flags; // Contains configuration flags
} SEGGER_RTT_BUFFER_UP;
//
// Description for a circular buffer (also called "ring buffer")
// which is used as down-buffer (H->T)
//
typedef struct {
const char* sName; // Optional name. Standard names so far are: "Terminal", "SysView", "J-Scope_t4i4"
char* pBuffer; // Pointer to start of buffer
unsigned SizeOfBuffer; // Buffer size in bytes. Note that one byte is lost, as this implementation does not fill up the buffer in order to avoid the problem of being unable to distinguish between full and empty.
volatile unsigned WrOff; // Position of next item to be written by host. Must be volatile since it may be modified by host.
unsigned RdOff; // Position of next item to be read by target (down-buffer).
unsigned Flags; // Contains configuration flags
} SEGGER_RTT_BUFFER_DOWN;
//
// RTT control block which describes the number of buffers available
// as well as the configuration for each buffer
//
//
typedef struct {
char acID[16]; // Initialized to "SEGGER RTT"
int MaxNumUpBuffers; // Initialized to SEGGER_RTT_MAX_NUM_UP_BUFFERS (type. 2)
int MaxNumDownBuffers; // Initialized to SEGGER_RTT_MAX_NUM_DOWN_BUFFERS (type. 2)
SEGGER_RTT_BUFFER_UP aUp[SEGGER_RTT_MAX_NUM_UP_BUFFERS]; // Up buffers, transferring information up from target via debug probe to host
SEGGER_RTT_BUFFER_DOWN aDown[SEGGER_RTT_MAX_NUM_DOWN_BUFFERS]; // Down buffers, transferring information down from host via debug probe to target
#if SEGGER_RTT__CB_PADDING
unsigned char aDummy[SEGGER_RTT__CB_PADDING];
#endif
} SEGGER_RTT_CB;
/*********************************************************************
*
* Global data
*
**********************************************************************
*/
extern SEGGER_RTT_CB _SEGGER_RTT;
/*********************************************************************
*
* RTT API functions
*
**********************************************************************
*/
#ifdef __cplusplus
extern "C" {
#endif
int SEGGER_RTT_AllocDownBuffer (const char* sName, void* pBuffer, unsigned BufferSize, unsigned Flags);
int SEGGER_RTT_AllocUpBuffer (const char* sName, void* pBuffer, unsigned BufferSize, unsigned Flags);
int SEGGER_RTT_ConfigUpBuffer (unsigned BufferIndex, const char* sName, void* pBuffer, unsigned BufferSize, unsigned Flags);
int SEGGER_RTT_ConfigDownBuffer (unsigned BufferIndex, const char* sName, void* pBuffer, unsigned BufferSize, unsigned Flags);
int SEGGER_RTT_GetKey (void);
unsigned SEGGER_RTT_HasData (unsigned BufferIndex);
int SEGGER_RTT_HasKey (void);
unsigned SEGGER_RTT_HasDataUp (unsigned BufferIndex);
void SEGGER_RTT_Init (void);
unsigned SEGGER_RTT_Read (unsigned BufferIndex, void* pBuffer, unsigned BufferSize);
unsigned SEGGER_RTT_ReadNoLock (unsigned BufferIndex, void* pData, unsigned BufferSize);
int SEGGER_RTT_SetNameDownBuffer (unsigned BufferIndex, const char* sName);
int SEGGER_RTT_SetNameUpBuffer (unsigned BufferIndex, const char* sName);
int SEGGER_RTT_SetFlagsDownBuffer (unsigned BufferIndex, unsigned Flags);
int SEGGER_RTT_SetFlagsUpBuffer (unsigned BufferIndex, unsigned Flags);
int SEGGER_RTT_WaitKey (void);
unsigned SEGGER_RTT_Write (unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
unsigned SEGGER_RTT_WriteNoLock (unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
unsigned SEGGER_RTT_WriteSkipNoLock (unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
unsigned SEGGER_RTT_ASM_WriteSkipNoLock (unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
unsigned SEGGER_RTT_WriteString (unsigned BufferIndex, const char* s);
void SEGGER_RTT_WriteWithOverwriteNoLock(unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
unsigned SEGGER_RTT_PutChar (unsigned BufferIndex, char c);
unsigned SEGGER_RTT_PutCharSkip (unsigned BufferIndex, char c);
unsigned SEGGER_RTT_PutCharSkipNoLock (unsigned BufferIndex, char c);
unsigned SEGGER_RTT_GetAvailWriteSpace (unsigned BufferIndex);
unsigned SEGGER_RTT_GetBytesInBuffer (unsigned BufferIndex);
//
// Function macro for performance optimization
//
#define SEGGER_RTT_HASDATA(n) (((SEGGER_RTT_BUFFER_DOWN*)((char*)&_SEGGER_RTT.aDown[n] + SEGGER_RTT_UNCACHED_OFF))->WrOff - ((SEGGER_RTT_BUFFER_DOWN*)((char*)&_SEGGER_RTT.aDown[n] + SEGGER_RTT_UNCACHED_OFF))->RdOff)
#if RTT_USE_ASM
#define SEGGER_RTT_WriteSkipNoLock SEGGER_RTT_ASM_WriteSkipNoLock
#endif
/*********************************************************************
*
* RTT transfer functions to send RTT data via other channels.
*
**********************************************************************
*/
unsigned SEGGER_RTT_ReadUpBuffer (unsigned BufferIndex, void* pBuffer, unsigned BufferSize);
unsigned SEGGER_RTT_ReadUpBufferNoLock (unsigned BufferIndex, void* pData, unsigned BufferSize);
unsigned SEGGER_RTT_WriteDownBuffer (unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
unsigned SEGGER_RTT_WriteDownBufferNoLock (unsigned BufferIndex, const void* pBuffer, unsigned NumBytes);
#define SEGGER_RTT_HASDATA_UP(n) (((SEGGER_RTT_BUFFER_UP*)((char*)&_SEGGER_RTT.aUp[n] + SEGGER_RTT_UNCACHED_OFF))->WrOff - ((SEGGER_RTT_BUFFER_UP*)((char*)&_SEGGER_RTT.aUp[n] + SEGGER_RTT_UNCACHED_OFF))->RdOff) // Access uncached to make sure we see changes made by the J-Link side and all of our changes go into HW directly
/*********************************************************************
*
* RTT "Terminal" API functions
*
**********************************************************************
*/
int SEGGER_RTT_SetTerminal (unsigned char TerminalId);
int SEGGER_RTT_TerminalOut (unsigned char TerminalId, const char* s);
/*********************************************************************
*
* RTT printf functions (require SEGGER_RTT_printf.c)
*
**********************************************************************
*/
int SEGGER_RTT_printf(unsigned BufferIndex, const char * sFormat, ...);
int SEGGER_RTT_vprintf(unsigned BufferIndex, const char * sFormat, va_list * pParamList);
#ifdef __cplusplus
}
#endif
#endif // ifndef(SEGGER_RTT_ASM)
/*********************************************************************
*
* Defines
*
**********************************************************************
*/
//
// Operating modes. Define behavior if buffer is full (not enough space for entire message)
//
#define SEGGER_RTT_MODE_NO_BLOCK_SKIP (0) // Skip. Do not block, output nothing. (Default)
#define SEGGER_RTT_MODE_NO_BLOCK_TRIM (1) // Trim: Do not block, output as much as fits.
#define SEGGER_RTT_MODE_BLOCK_IF_FIFO_FULL (2) // Block: Wait until there is space in the buffer.
#define SEGGER_RTT_MODE_MASK (3)
//
// Control sequences, based on ANSI.
// Can be used to control color, and clear the screen
//
#define RTT_CTRL_RESET "\x1B[0m" // Reset to default colors
#define RTT_CTRL_CLEAR "\x1B[2J" // Clear screen, reposition cursor to top left
#define RTT_CTRL_TEXT_BLACK "\x1B[2;30m"
#define RTT_CTRL_TEXT_RED "\x1B[2;31m"
#define RTT_CTRL_TEXT_GREEN "\x1B[2;32m"
#define RTT_CTRL_TEXT_YELLOW "\x1B[2;33m"
#define RTT_CTRL_TEXT_BLUE "\x1B[2;34m"
#define RTT_CTRL_TEXT_MAGENTA "\x1B[2;35m"
#define RTT_CTRL_TEXT_CYAN "\x1B[2;36m"
#define RTT_CTRL_TEXT_WHITE "\x1B[2;37m"
#define RTT_CTRL_TEXT_BRIGHT_BLACK "\x1B[1;30m"
#define RTT_CTRL_TEXT_BRIGHT_RED "\x1B[1;31m"
#define RTT_CTRL_TEXT_BRIGHT_GREEN "\x1B[1;32m"
#define RTT_CTRL_TEXT_BRIGHT_YELLOW "\x1B[1;33m"
#define RTT_CTRL_TEXT_BRIGHT_BLUE "\x1B[1;34m"
#define RTT_CTRL_TEXT_BRIGHT_MAGENTA "\x1B[1;35m"
#define RTT_CTRL_TEXT_BRIGHT_CYAN "\x1B[1;36m"
#define RTT_CTRL_TEXT_BRIGHT_WHITE "\x1B[1;37m"
#define RTT_CTRL_BG_BLACK "\x1B[24;40m"
#define RTT_CTRL_BG_RED "\x1B[24;41m"
#define RTT_CTRL_BG_GREEN "\x1B[24;42m"
#define RTT_CTRL_BG_YELLOW "\x1B[24;43m"
#define RTT_CTRL_BG_BLUE "\x1B[24;44m"
#define RTT_CTRL_BG_MAGENTA "\x1B[24;45m"
#define RTT_CTRL_BG_CYAN "\x1B[24;46m"
#define RTT_CTRL_BG_WHITE "\x1B[24;47m"
#define RTT_CTRL_BG_BRIGHT_BLACK "\x1B[4;40m"
#define RTT_CTRL_BG_BRIGHT_RED "\x1B[4;41m"
#define RTT_CTRL_BG_BRIGHT_GREEN "\x1B[4;42m"
#define RTT_CTRL_BG_BRIGHT_YELLOW "\x1B[4;43m"
#define RTT_CTRL_BG_BRIGHT_BLUE "\x1B[4;44m"
#define RTT_CTRL_BG_BRIGHT_MAGENTA "\x1B[4;45m"
#define RTT_CTRL_BG_BRIGHT_CYAN "\x1B[4;46m"
#define RTT_CTRL_BG_BRIGHT_WHITE "\x1B[4;47m"
#endif
/*************************** End of file ****************************/

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/*********************************************************************
* (c) SEGGER Microcontroller GmbH *
* The Embedded Experts *
* www.segger.com *
**********************************************************************
-------------------------- END-OF-HEADER -----------------------------
File : SEGGER_RTT_ASM_ARMv7M.S
Purpose : Assembler implementation of RTT functions for ARMv7M
Additional information:
This module is written to be assembler-independent and works with
GCC and clang (Embedded Studio) and IAR.
*/
#define SEGGER_RTT_ASM // Used to control processed input from header file
#include "SEGGER_RTT.h"
/*********************************************************************
*
* Defines, fixed
*
**********************************************************************
*/
#define _CCIAR 0
#define _CCCLANG 1
#if (defined __SES_ARM) || (defined __GNUC__) || (defined __clang__)
#define _CC_TYPE _CCCLANG
#define _PUB_SYM .global
#define _EXT_SYM .extern
#define _END .end
#define _WEAK .weak
#define _THUMB_FUNC .thumb_func
#define _THUMB_CODE .code 16
#define _WORD .word
#define _SECTION(Sect, Type, AlignExp) .section Sect ##, "ax"
#define _ALIGN(Exp) .align Exp
#define _PLACE_LITS .ltorg
#define _DATA_SECT_START
#define _C_STARTUP _start
#define _STACK_END __stack_end__
#define _RAMFUNC
//
// .text => Link to flash
// .fast => Link to RAM
// OtherSect => Usually link to RAM
// Alignment is 2^x
//
#elif defined (__IASMARM__)
#define _CC_TYPE _CCIAR
#define _PUB_SYM PUBLIC
#define _EXT_SYM EXTERN
#define _END END
#define _WEAK _WEAK
#define _THUMB_FUNC
#define _THUMB_CODE THUMB
#define _WORD DCD
#define _SECTION(Sect, Type, AlignExp) SECTION Sect ## : ## Type ## :REORDER:NOROOT ## (AlignExp)
#define _ALIGN(Exp) alignrom Exp
#define _PLACE_LITS
#define _DATA_SECT_START DATA
#define _C_STARTUP __iar_program_start
#define _STACK_END sfe(CSTACK)
#define _RAMFUNC SECTION_TYPE SHT_PROGBITS, SHF_WRITE | SHF_EXECINSTR
//
// .text => Link to flash
// .textrw => Link to RAM
// OtherSect => Usually link to RAM
// NOROOT => Allows linker to throw away the function, if not referenced
// Alignment is 2^x
//
#endif
#if (_CC_TYPE == _CCIAR)
NAME SEGGER_RTT_ASM_ARMv7M
#else
.syntax unified
#endif
#if defined (RTT_USE_ASM) && (RTT_USE_ASM == 1)
#define SHT_PROGBITS 0x1
/*********************************************************************
*
* Public / external symbols
*
**********************************************************************
*/
_EXT_SYM __aeabi_memcpy
_EXT_SYM __aeabi_memcpy4
_EXT_SYM _SEGGER_RTT
_PUB_SYM SEGGER_RTT_ASM_WriteSkipNoLock
/*********************************************************************
*
* SEGGER_RTT_WriteSkipNoLock
*
* Function description
* Stores a specified number of characters in SEGGER RTT
* control block which is then read by the host.
* SEGGER_RTT_WriteSkipNoLock does not lock the application and
* skips all data, if the data does not fit into the buffer.
*
* Parameters
* BufferIndex Index of "Up"-buffer to be used (e.g. 0 for "Terminal").
* pBuffer Pointer to character array. Does not need to point to a \0 terminated string.
* NumBytes Number of bytes to be stored in the SEGGER RTT control block.
* MUST be > 0!!!
* This is done for performance reasons, so no initial check has do be done.
*
* Return value
* 1: Data has been copied
* 0: No space, data has not been copied
*
* Notes
* (1) If there is not enough space in the "Up"-buffer, all data is dropped.
* (2) For performance reasons this function does not call Init()
* and may only be called after RTT has been initialized.
* Either by calling SEGGER_RTT_Init() or calling another RTT API function first.
*/
_SECTION(.text, CODE, 2)
_ALIGN(2)
_THUMB_FUNC
SEGGER_RTT_ASM_WriteSkipNoLock: // unsigned SEGGER_RTT_WriteSkipNoLock(unsigned BufferIndex, const void* pData, unsigned NumBytes) {
//
// Cases:
// 1) RdOff <= WrOff => Space until wrap-around is sufficient
// 2) RdOff <= WrOff => Space after wrap-around needed (copy in 2 chunks)
// 3) RdOff < WrOff => No space in buf
// 4) RdOff > WrOff => Space is sufficient
// 5) RdOff > WrOff => No space in buf
//
// 1) is the most common case for large buffers and assuming that J-Link reads the data fast enough
//
// Register usage:
// R0 Temporary needed as RdOff, <Tmp> register later on
// R1 pData
// R2 <NumBytes>
// R3 <Tmp> register. Hold free for subroutine calls
// R4 <Rem>
// R5 pRing->pBuffer
// R6 pRing (Points to active struct SEGGER_RTT_BUFFER_DOWN)
// R7 WrOff
//
PUSH {R4-R7}
ADD R3,R0,R0, LSL #+1
LDR.W R0,=_SEGGER_RTT // pRing = &_SEGGER_RTT.aUp[BufferIndex];
ADD R0,R0,R3, LSL #+3
ADD R6,R0,#+24
LDR R0,[R6, #+16] // RdOff = pRing->RdOff;
LDR R7,[R6, #+12] // WrOff = pRing->WrOff;
LDR R5,[R6, #+4] // pRing->pBuffer
CMP R7,R0
BCC.N _CheckCase4 // if (RdOff <= WrOff) { => Case 1), 2) or 3)
//
// Handling for case 1, later on identical to case 4
//
LDR R3,[R6, #+8] // Avail = pRing->SizeOfBuffer - WrOff - 1u; => Space until wrap-around (assume 1 byte not usable for case that RdOff == 0)
SUBS R4,R3,R7 // <Rem> (Used in case we jump into case 2 afterwards)
SUBS R3,R4,#+1 // <Avail>
CMP R3,R2
BCC.N _CheckCase2 // if (Avail >= NumBytes) { => Case 1)?
_Case4:
ADDS R5,R7,R5 // pBuffer += WrOff
ADDS R0,R2,R7 // v = WrOff + NumBytes
//
// 2x unrolling for the copy loop that is used most of the time
// This is a special optimization for small SystemView packets and makes them even faster
//
_ALIGN(2)
_LoopCopyStraight: // memcpy(pRing->pBuffer + WrOff, pData, NumBytes);
LDRB R3,[R1], #+1
STRB R3,[R5], #+1 // *pDest++ = *pSrc++
SUBS R2,R2,#+1
BEQ _CSDone
LDRB R3,[R1], #+1
STRB R3,[R5], #+1 // *pDest++ = *pSrc++
SUBS R2,R2,#+1
BNE _LoopCopyStraight
_CSDone:
#if _CORE_NEEDS_DMB // Do not slow down cores that do not need a DMB instruction here
DMB // Cortex-M7 may delay memory writes and also change the order in which the writes happen. Therefore, make sure that all buffer writes are finished, before updating the <WrOff> in the struct
#endif
STR R0,[R6, #+12] // pRing->WrOff = WrOff + NumBytes;
MOVS R0,#+1
POP {R4-R7}
BX LR // Return 1
_CheckCase2:
ADDS R0,R0,R3 // Avail += RdOff; => Space incl. wrap-around
CMP R0,R2
BCC.N _Case3 // if (Avail >= NumBytes) { => Case 2? => If not, we have case 3) (does not fit)
//
// Handling for case 2
//
ADDS R0,R7,R5 // v = pRing->pBuffer + WrOff => Do not change pRing->pBuffer here because 2nd chunk needs org. value
SUBS R2,R2,R4 // NumBytes -= Rem; (Rem = pRing->SizeOfBuffer - WrOff; => Space until end of buffer)
_LoopCopyBeforeWrapAround: // memcpy(pRing->pBuffer + WrOff, pData, Rem); => Copy 1st chunk
LDRB R3,[R1], #+1
STRB R3,[R0], #+1 // *pDest++ = *pSrc++
SUBS R4,R4,#+1
BNE _LoopCopyBeforeWrapAround
//
// Special case: First check that assumed RdOff == 0 calculated that last element before wrap-around could not be used
// But 2nd check (considering space until wrap-around and until RdOff) revealed that RdOff is not 0, so we can use the last element
// In this case, we may use a copy straight until buffer end anyway without needing to copy 2 chunks
// Therefore, check if 2nd memcpy is necessary at all
//
ADDS R4,R2,#+0 // Save <NumBytes> (needed as counter in loop but must be written to <WrOff> after the loop). Also use this inst to update the flags to skip 2nd loop if possible
BEQ.N _No2ChunkNeeded // if (NumBytes) {
_LoopCopyAfterWrapAround: // memcpy(pRing->pBuffer, pData + Rem, NumBytes);
LDRB R3,[R1], #+1 // pData already points to the next src byte due to copy loop increment before this loop
STRB R3,[R5], #+1 // *pDest++ = *pSrc++
SUBS R2,R2,#+1
BNE _LoopCopyAfterWrapAround
_No2ChunkNeeded:
#if _CORE_NEEDS_DMB // Do not slow down cores that do not need a DMB instruction here
DMB // Cortex-M7 may delay memory writes and also change the order in which the writes happen. Therefore, make sure that all buffer writes are finished, before updating the <WrOff> in the struct
#endif
STR R4,[R6, #+12] // pRing->WrOff = NumBytes; => Must be written after copying data because J-Link may read control block asynchronously while writing into buffer
MOVS R0,#+1
POP {R4-R7}
BX LR // Return 1
_CheckCase4:
SUBS R0,R0,R7
SUBS R0,R0,#+1 // Avail = RdOff - WrOff - 1u;
CMP R0,R2
BCS.N _Case4 // if (Avail >= NumBytes) { => Case 4) == 1) ? => If not, we have case 5) == 3) (does not fit)
_Case3:
MOVS R0,#+0
POP {R4-R7}
BX LR // Return 0
_PLACE_LITS
#endif // defined (RTT_USE_ASM) && (RTT_USE_ASM == 1)
_END
/*************************** End of file ****************************/

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/*********************************************************************
* SEGGER Microcontroller GmbH *
* The Embedded Experts *
**********************************************************************
* *
* (c) 1995 - 2021 SEGGER Microcontroller GmbH *
* *
* www.segger.com Support: support@segger.com *
* *
**********************************************************************
* *
* SEGGER RTT * Real Time Transfer for embedded targets *
* *
**********************************************************************
* *
* All rights reserved. *
* *
* SEGGER strongly recommends to not make any changes *
* to or modify the source code of this software in order to stay *
* compatible with the RTT protocol and J-Link. *
* *
* Redistribution and use in source and binary forms, with or *
* without modification, are permitted provided that the following *
* condition is met: *
* *
* o Redistributions of source code must retain the above copyright *
* notice, this condition and the following disclaimer. *
* *
* 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 SEGGER Microcontroller 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. *
* *
**********************************************************************
* *
* RTT version: 7.58c *
* *
**********************************************************************
---------------------------END-OF-HEADER------------------------------
File : SEGGER_RTT_printf.c
Purpose : Replacement for printf to write formatted data via RTT
Revision: $Rev: 17697 $
----------------------------------------------------------------------
*/
#include "SEGGER_RTT.h"
#include "SEGGER_RTT_Conf.h"
/*********************************************************************
*
* Defines, configurable
*
**********************************************************************
*/
#ifndef SEGGER_RTT_PRINTF_BUFFER_SIZE
#define SEGGER_RTT_PRINTF_BUFFER_SIZE (64)
#endif
#include <stdlib.h>
#include <stdarg.h>
#define FORMAT_FLAG_LEFT_JUSTIFY (1u << 0)
#define FORMAT_FLAG_PAD_ZERO (1u << 1)
#define FORMAT_FLAG_PRINT_SIGN (1u << 2)
#define FORMAT_FLAG_ALTERNATE (1u << 3)
/*********************************************************************
*
* Types
*
**********************************************************************
*/
typedef struct {
char* pBuffer;
unsigned BufferSize;
unsigned Cnt;
int ReturnValue;
unsigned RTTBufferIndex;
} SEGGER_RTT_PRINTF_DESC;
/*********************************************************************
*
* Function prototypes
*
**********************************************************************
*/
/*********************************************************************
*
* Static code
*
**********************************************************************
*/
/*********************************************************************
*
* _StoreChar
*/
static void _StoreChar(SEGGER_RTT_PRINTF_DESC * p, char c) {
unsigned Cnt;
Cnt = p->Cnt;
if ((Cnt + 1u) <= p->BufferSize) {
*(p->pBuffer + Cnt) = c;
p->Cnt = Cnt + 1u;
p->ReturnValue++;
}
//
// Write part of string, when the buffer is full
//
if (p->Cnt == p->BufferSize) {
if (SEGGER_RTT_Write(p->RTTBufferIndex, p->pBuffer, p->Cnt) != p->Cnt) {
p->ReturnValue = -1;
} else {
p->Cnt = 0u;
}
}
}
/*********************************************************************
*
* _PrintUnsigned
*/
static void _PrintUnsigned(SEGGER_RTT_PRINTF_DESC * pBufferDesc, unsigned v, unsigned Base, unsigned NumDigits, unsigned FieldWidth, unsigned FormatFlags) {
static const char _aV2C[16] = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F' };
unsigned Div;
unsigned Digit;
unsigned Number;
unsigned Width;
char c;
Number = v;
Digit = 1u;
//
// Get actual field width
//
Width = 1u;
while (Number >= Base) {
Number = (Number / Base);
Width++;
}
if (NumDigits > Width) {
Width = NumDigits;
}
//
// Print leading chars if necessary
//
if ((FormatFlags & FORMAT_FLAG_LEFT_JUSTIFY) == 0u) {
if (FieldWidth != 0u) {
if (((FormatFlags & FORMAT_FLAG_PAD_ZERO) == FORMAT_FLAG_PAD_ZERO) && (NumDigits == 0u)) {
c = '0';
} else {
c = ' ';
}
while ((FieldWidth != 0u) && (Width < FieldWidth)) {
FieldWidth--;
_StoreChar(pBufferDesc, c);
if (pBufferDesc->ReturnValue < 0) {
break;
}
}
}
}
if (pBufferDesc->ReturnValue >= 0) {
//
// Compute Digit.
// Loop until Digit has the value of the highest digit required.
// Example: If the output is 345 (Base 10), loop 2 times until Digit is 100.
//
while (1) {
if (NumDigits > 1u) { // User specified a min number of digits to print? => Make sure we loop at least that often, before checking anything else (> 1 check avoids problems with NumDigits being signed / unsigned)
NumDigits--;
} else {
Div = v / Digit;
if (Div < Base) { // Is our divider big enough to extract the highest digit from value? => Done
break;
}
}
Digit *= Base;
}
//
// Output digits
//
do {
Div = v / Digit;
v -= Div * Digit;
_StoreChar(pBufferDesc, _aV2C[Div]);
if (pBufferDesc->ReturnValue < 0) {
break;
}
Digit /= Base;
} while (Digit);
//
// Print trailing spaces if necessary
//
if ((FormatFlags & FORMAT_FLAG_LEFT_JUSTIFY) == FORMAT_FLAG_LEFT_JUSTIFY) {
if (FieldWidth != 0u) {
while ((FieldWidth != 0u) && (Width < FieldWidth)) {
FieldWidth--;
_StoreChar(pBufferDesc, ' ');
if (pBufferDesc->ReturnValue < 0) {
break;
}
}
}
}
}
}
/*********************************************************************
*
* _PrintInt
*/
static void _PrintInt(SEGGER_RTT_PRINTF_DESC * pBufferDesc, int v, unsigned Base, unsigned NumDigits, unsigned FieldWidth, unsigned FormatFlags) {
unsigned Width;
int Number;
Number = (v < 0) ? -v : v;
//
// Get actual field width
//
Width = 1u;
while (Number >= (int)Base) {
Number = (Number / (int)Base);
Width++;
}
if (NumDigits > Width) {
Width = NumDigits;
}
if ((FieldWidth > 0u) && ((v < 0) || ((FormatFlags & FORMAT_FLAG_PRINT_SIGN) == FORMAT_FLAG_PRINT_SIGN))) {
FieldWidth--;
}
//
// Print leading spaces if necessary
//
if ((((FormatFlags & FORMAT_FLAG_PAD_ZERO) == 0u) || (NumDigits != 0u)) && ((FormatFlags & FORMAT_FLAG_LEFT_JUSTIFY) == 0u)) {
if (FieldWidth != 0u) {
while ((FieldWidth != 0u) && (Width < FieldWidth)) {
FieldWidth--;
_StoreChar(pBufferDesc, ' ');
if (pBufferDesc->ReturnValue < 0) {
break;
}
}
}
}
//
// Print sign if necessary
//
if (pBufferDesc->ReturnValue >= 0) {
if (v < 0) {
v = -v;
_StoreChar(pBufferDesc, '-');
} else if ((FormatFlags & FORMAT_FLAG_PRINT_SIGN) == FORMAT_FLAG_PRINT_SIGN) {
_StoreChar(pBufferDesc, '+');
} else {
}
if (pBufferDesc->ReturnValue >= 0) {
//
// Print leading zeros if necessary
//
if (((FormatFlags & FORMAT_FLAG_PAD_ZERO) == FORMAT_FLAG_PAD_ZERO) && ((FormatFlags & FORMAT_FLAG_LEFT_JUSTIFY) == 0u) && (NumDigits == 0u)) {
if (FieldWidth != 0u) {
while ((FieldWidth != 0u) && (Width < FieldWidth)) {
FieldWidth--;
_StoreChar(pBufferDesc, '0');
if (pBufferDesc->ReturnValue < 0) {
break;
}
}
}
}
if (pBufferDesc->ReturnValue >= 0) {
//
// Print number without sign
//
_PrintUnsigned(pBufferDesc, (unsigned)v, Base, NumDigits, FieldWidth, FormatFlags);
}
}
}
}
/*********************************************************************
*
* Public code
*
**********************************************************************
*/
/*********************************************************************
*
* SEGGER_RTT_vprintf
*
* Function description
* Stores a formatted string in SEGGER RTT control block.
* This data is read by the host.
*
* Parameters
* BufferIndex Index of "Up"-buffer to be used. (e.g. 0 for "Terminal")
* sFormat Pointer to format string
* pParamList Pointer to the list of arguments for the format string
*
* Return values
* >= 0: Number of bytes which have been stored in the "Up"-buffer.
* < 0: Error
*/
int SEGGER_RTT_vprintf(unsigned BufferIndex, const char * sFormat, va_list * pParamList) {
char c;
SEGGER_RTT_PRINTF_DESC BufferDesc;
int v;
unsigned NumDigits;
unsigned FormatFlags;
unsigned FieldWidth;
char acBuffer[SEGGER_RTT_PRINTF_BUFFER_SIZE];
BufferDesc.pBuffer = acBuffer;
BufferDesc.BufferSize = SEGGER_RTT_PRINTF_BUFFER_SIZE;
BufferDesc.Cnt = 0u;
BufferDesc.RTTBufferIndex = BufferIndex;
BufferDesc.ReturnValue = 0;
do {
c = *sFormat;
sFormat++;
if (c == 0u) {
break;
}
if (c == '%') {
//
// Filter out flags
//
FormatFlags = 0u;
v = 1;
do {
c = *sFormat;
switch (c) {
case '-': FormatFlags |= FORMAT_FLAG_LEFT_JUSTIFY; sFormat++; break;
case '0': FormatFlags |= FORMAT_FLAG_PAD_ZERO; sFormat++; break;
case '+': FormatFlags |= FORMAT_FLAG_PRINT_SIGN; sFormat++; break;
case '#': FormatFlags |= FORMAT_FLAG_ALTERNATE; sFormat++; break;
default: v = 0; break;
}
} while (v);
//
// filter out field with
//
FieldWidth = 0u;
do {
c = *sFormat;
if ((c < '0') || (c > '9')) {
break;
}
sFormat++;
FieldWidth = (FieldWidth * 10u) + ((unsigned)c - '0');
} while (1);
//
// Filter out precision (number of digits to display)
//
NumDigits = 0u;
c = *sFormat;
if (c == '.') {
sFormat++;
do {
c = *sFormat;
if ((c < '0') || (c > '9')) {
break;
}
sFormat++;
NumDigits = NumDigits * 10u + ((unsigned)c - '0');
} while (1);
}
//
// Filter out length modifier
//
c = *sFormat;
do {
if ((c == 'l') || (c == 'h')) {
sFormat++;
c = *sFormat;
} else {
break;
}
} while (1);
//
// Handle specifiers
//
switch (c) {
case 'c': {
char c0;
v = va_arg(*pParamList, int);
c0 = (char)v;
_StoreChar(&BufferDesc, c0);
break;
}
case 'd':
v = va_arg(*pParamList, int);
_PrintInt(&BufferDesc, v, 10u, NumDigits, FieldWidth, FormatFlags);
break;
case 'u':
v = va_arg(*pParamList, int);
_PrintUnsigned(&BufferDesc, (unsigned)v, 10u, NumDigits, FieldWidth, FormatFlags);
break;
case 'x':
case 'X':
v = va_arg(*pParamList, int);
_PrintUnsigned(&BufferDesc, (unsigned)v, 16u, NumDigits, FieldWidth, FormatFlags);
break;
case 's':
{
const char * s = va_arg(*pParamList, const char *);
do {
c = *s;
s++;
if (c == '\0') {
break;
}
_StoreChar(&BufferDesc, c);
} while (BufferDesc.ReturnValue >= 0);
}
break;
case 'p':
v = va_arg(*pParamList, int);
_PrintUnsigned(&BufferDesc, (unsigned)v, 16u, 8u, 8u, 0u);
break;
case '%':
_StoreChar(&BufferDesc, '%');
break;
default:
break;
}
sFormat++;
} else {
_StoreChar(&BufferDesc, c);
}
} while (BufferDesc.ReturnValue >= 0);
if (BufferDesc.ReturnValue > 0) {
//
// Write remaining data, if any
//
if (BufferDesc.Cnt != 0u) {
SEGGER_RTT_Write(BufferIndex, acBuffer, BufferDesc.Cnt);
}
BufferDesc.ReturnValue += (int)BufferDesc.Cnt;
}
return BufferDesc.ReturnValue;
}
/*********************************************************************
*
* SEGGER_RTT_printf
*
* Function description
* Stores a formatted string in SEGGER RTT control block.
* This data is read by the host.
*
* Parameters
* BufferIndex Index of "Up"-buffer to be used. (e.g. 0 for "Terminal")
* sFormat Pointer to format string, followed by the arguments for conversion
*
* Return values
* >= 0: Number of bytes which have been stored in the "Up"-buffer.
* < 0: Error
*
* Notes
* (1) Conversion specifications have following syntax:
* %[flags][FieldWidth][.Precision]ConversionSpecifier
* (2) Supported flags:
* -: Left justify within the field width
* +: Always print sign extension for signed conversions
* 0: Pad with 0 instead of spaces. Ignored when using '-'-flag or precision
* Supported conversion specifiers:
* c: Print the argument as one char
* d: Print the argument as a signed integer
* u: Print the argument as an unsigned integer
* x: Print the argument as an hexadecimal integer
* s: Print the string pointed to by the argument
* p: Print the argument as an 8-digit hexadecimal integer. (Argument shall be a pointer to void.)
*/
int SEGGER_RTT_printf(unsigned BufferIndex, const char * sFormat, ...) {
int r;
va_list ParamList;
va_start(ParamList, sFormat);
r = SEGGER_RTT_vprintf(BufferIndex, sFormat, &ParamList);
va_end(ParamList);
return r;
}
/*************************** End of file ****************************/

9
Makefile
View File

@ -95,6 +95,8 @@ HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/timers.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c \
HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c \
HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c \
\ \
bsp/bsp_dwt.c \
bsp/bsp_temperature.c \
@ -127,8 +129,9 @@ modules/algorithm/crc16.c
# ASM sources
ASM_SOURCES = \
startup_stm32f407xx.s
ASM_SOURCES += \
startup_stm32f407xx.s \
HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
#######################################
# binaries
@ -194,6 +197,8 @@ C_INCLUDES = \
-IHAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
-IHAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/include \
-IHAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/include \
-IHAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT \
-IHAL_N_Middlewares/Middlewares/Third_Party/SEGGER/Config \
-IHAL_N_Middlewares/Middlewares/ST/ARM/DSP/Inc \
-Iapplication \
-Ibsp \

2
bsp/bsp_can.c
View File

@ -4,7 +4,7 @@
#include "memory.h"
/* can instance ptrs storage, used for recv callback */
static can_instance *instance[MX_REGISTER_DEVICE_CNT]={NULL};
static can_instance *instance[MX_REGISTER_DEVICE_CNT] = {NULL};
/* ----------------two static function called by CANRegister()-------------------- */

31
bsp/bsp_log.c
View File

@ -0,0 +1,31 @@
#include "bsp_log.h"
#include "SEGGER_RTT.h"
#include "SEGGER_RTT_Conf.h"
#include <stdio.h>
#define BUFFER_INDEX 0
void BSP_Log_Init() { SEGGER_RTT_Init(); }
int printf_log(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
int n = SEGGER_RTT_vprintf(BUFFER_INDEX, fmt, &args);
va_end(args);
return n;
}
void Float2Str(char *str, float va)
{
int flag = va < 0;
int head = (int)va;
int point = (int)((va - head) * 1000);
head = abs(head);
point = abs(point);
if (flag)
sprintf(str, "-%d.%d", head, point);
else
sprintf(str, "%d.%d", head, point);
}

8
bsp/bsp_log.h
View File

@ -0,0 +1,8 @@
#ifndef _BSP_LOG_H
#define _BSP_LOG_H
void BSP_Log_Init();
int printf_log(const char *fmt, ...);
void Float2Str(char *str, float va);
#endif

5
bsp/bsp_log.md Normal file
View File

@ -0,0 +1,5 @@
# bsp_log
<p align='right'>neozng1@hnu.edu.cn</p>
## 使用说明

2
bsp/bsp_usart.c
View File

@ -13,7 +13,7 @@
/* usart service instance, modules' info would be recoreded here using USARTRegister() */
/* usart服务实例,所有注册了usart的模块信息会被保存在这里 */
static usart_instance *instance[DEVICE_USART_CNT]={NULL};
static usart_instance *instance[DEVICE_USART_CNT] = {NULL};
/**
* @brief usart service will start automatically, after each module registered

4
modules/motor/dji_motor.c
View File

@ -231,13 +231,13 @@ void DJIMotorControl()
motor_controller->pid_ref = PID_Calculate(&motor_controller->speed_PID, pid_measure, motor_controller->pid_ref);
}
if (motor_setting->close_loop_type & CURRENT_LOOP) //计算电流环
if (motor_setting->close_loop_type & CURRENT_LOOP) // 计算电流环
{
motor_controller->pid_ref = PID_Calculate(&motor_controller->current_PID, motor_measure->given_current, motor_controller->pid_ref);
}
set = (int16_t)motor_controller->pid_ref;
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) //设置反转
if (motor_setting->reverse_flag == MOTOR_DIRECTION_REVERSE) // 设置反转
set *= -1;
// 分组填入发送数据

9
modules/motor/dji_motor.h
View File

@ -4,9 +4,14 @@
* @brief DJI智能电机头文件
* @version 0.1
* @date 2022-11-01
*
*
* @todo 1. 给不同的电机设置不同的低通滤波器惯性系数而不是统一使用宏
2. 当前电机初始化函数`DJIMotorInit()`稍显凌乱,
应设置一个`dji_motor_init_config_s`结构体用于电机初始化,使得风格统一,提高可读性
3. 为M2006和M3508增加开环的零位校准函数
* @copyright Copyright (c) 2022 HNU YueLu EC all rights reserved
*
*
*/
#ifndef DJI_MOTOR_H

1
modules/motor/dji_motor.md
View File

@ -6,6 +6,7 @@
>
> 1. 给不同的电机设置不同的低通滤波器惯性系数而不是统一使用宏
> 2. 当前电机初始化函数`DJIMotorInit()`稍显凌乱，应设置一个`dji_motor_init_config_s`结构体用于电机初始化，使得风格统一，提高可读性
> 3. 为M2006和M3508增加开环的零位校准函数