From 3faa9f1f8fbb2b8b554a950f3ca185fc7b351c57 Mon Sep 17 00:00:00 2001 From: NeoZng Date: Fri, 14 Jul 2023 17:24:44 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B8=85=E9=99=A4=E6=89=80=E6=9C=89=E7=9A=84le?= =?UTF-8?q?gacy=20support=EF=BC=8C=E5=A2=9E=E5=8A=A0=E7=BC=96=E8=AF=91?= =?UTF-8?q?=E6=97=B6=E7=9A=84=E5=86=85=E5=AD=98=E4=BD=BF=E7=94=A8=E9=A2=84?= =?UTF-8?q?=E6=B5=8B=E5=92=8CWerror=E9=80=89=E9=A1=B9=EF=BC=8C=E7=BB=9F?= =?UTF-8?q?=E4=B8=80=E5=91=BD=E5=90=8D=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .mxproject | 16 +++--- Makefile | 14 ++---- Src/freertos.c | 22 ++++---- application/robot.c | 2 +- application/robot_task.h | 2 +- bsp/bsp_init.c | 17 ------- bsp/bsp_init.h | 13 ++++- bsp/bsp_legacy_support/bsp_buzzer.c | 0 bsp/bsp_legacy_support/bsp_buzzer.h | 0 bsp/bsp_legacy_support/bsp_led.c | 29 ----------- bsp/bsp_legacy_support/bsp_led.h | 9 ---- bsp/bsp_legacy_support/bsp_temperature.c | 15 ------ bsp/bsp_legacy_support/bsp_temperature.h | 10 ---- bsp/bsp_legacy_support/legacy.md | 5 -- modules/alarm/buzzer.c | 64 +++++++++++------------- modules/alarm/buzzer.h | 2 +- modules/imu/BMI088driver.c | 2 +- modules/imu/ins_task.c | 9 +++- modules/led/led.c | 9 +++- modules/led/led.md | 3 ++ modules/led_task/led.md | 8 --- modules/led_task/led_task.c | 59 ---------------------- modules/led_task/led_task.h | 7 --- 必须做&禁止做.md | 11 ++-- 24 files changed, 94 insertions(+), 234 deletions(-) delete mode 100644 bsp/bsp_init.c delete mode 100644 bsp/bsp_legacy_support/bsp_buzzer.c delete mode 100644 bsp/bsp_legacy_support/bsp_buzzer.h delete mode 100644 bsp/bsp_legacy_support/bsp_led.c delete mode 100644 bsp/bsp_legacy_support/bsp_led.h delete mode 100644 bsp/bsp_legacy_support/bsp_temperature.c delete mode 100644 bsp/bsp_legacy_support/bsp_temperature.h delete mode 100644 bsp/bsp_legacy_support/legacy.md create mode 100644 modules/led/led.md delete mode 100644 modules/led_task/led.md delete mode 100644 modules/led_task/led_task.c delete mode 100644 modules/led_task/led_task.h diff --git a/.mxproject b/.mxproject index 5d69fd2..1490176 100644 --- a/.mxproject +++ b/.mxproject @@ -1,17 +1,12 @@ -[PreviousLibFiles] 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m32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pcd_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usb.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_bus.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rcc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_system.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_utils.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_gpio.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dma.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dmamux.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_pwr.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_cortex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_exti.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_adc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_adc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_can.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_crc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dac.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_dac.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dac_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_i2c.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rng.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rtc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_rtc.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rtc_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_tim.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h;Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_ll_usart.h;Middlewares\Third_Party\FreeRTOS\Source\include\croutine.h;Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h;Middlewares\Third_Party\FreeRTOS\Source\include\event_groups.h;Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h;Middlewares\Third_Party\FreeRTOS\Source\include\list.h;Middlewares\Third_Party\FreeRTOS\Source\include\message_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_prototypes.h;Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h;Middlewares\Third_Party\FreeRTOS\Source\include\portable.h;Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h;Middlewares\Third_Party\FreeRTOS\Source\include\queue.h;Middlewares\Third_Party\FreeRTOS\Source\include\semphr.h;Middlewares\Third_Party\FreeRTOS\Source\include\stack_macros.h;Middlewares\Third_Party\FreeRTOS\Source\include\StackMacros.h;Middlewares\Third_Party\FreeRTOS\Source\include\stream_buffer.h;Middlewares\Third_Party\FreeRTOS\Source\include\task.h;Middlewares\Third_Party\FreeRTOS\Source\include\timers.h;Middlewares\Third_Party\FreeRTOS\Source\include\atomic.h;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.h;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\portmacro.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_core.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ctlreq.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_def.h;Middlewares\ST\STM32_USB_Device_Library\Core\Inc\usbd_ioreq.h;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc\usbd_cdc.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Drivers\CMSIS\Include\cmsis_armcc.h;Drivers\CMSIS\Include\cmsis_armclang.h;Drivers\CMSIS\Include\cmsis_compiler.h;Drivers\CMSIS\Include\cmsis_gcc.h;Drivers\CMSIS\Include\cmsis_iccarm.h;Drivers\CMSIS\Include\cmsis_version.h;Drivers\CMSIS\Include\core_armv8mbl.h;Drivers\CMSIS\Include\core_armv8mml.h;Drivers\CMSIS\Include\core_cm0.h;Drivers\CMSIS\Include\core_cm0plus.h;Drivers\CMSIS\Include\core_cm1.h;Drivers\CMSIS\Include\core_cm23.h;Drivers\CMSIS\Include\core_cm3.h;Drivers\CMSIS\Include\core_cm33.h;Drivers\CMSIS\Include\core_cm4.h;Drivers\CMSIS\Include\core_cm7.h;Drivers\CMSIS\Include\core_sc000.h;Drivers\CMSIS\Include\core_sc300.h;Drivers\CMSIS\Include\mpu_armv7.h;Drivers\CMSIS\Include\mpu_armv8.h;Drivers\CMSIS\Include\tz_context.h; + [ThirdPartyIp] ThirdPartyIpNumber=1 ThirdPartyIpName#0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 @@ -20,3 +15,8 @@ ThirdPartyIpName#0=STMicroelectronics.X-CUBE-ALGOBUILD.1.3.0 library=..\Middlewares\ST\ARM\DSP\Lib\libarm_cortexM4lf_math.a; header=..\Middlewares\ST\ARM\DSP\Inc\arm_math.h; +[PreviousUsedMakefileFiles] +SourceFiles=Src\main.c;Src\gpio.c;Src\freertos.c;Src\adc.c;Src\can.c;Src\crc.c;Src\dac.c;Src\dma.c;Src\i2c.c;Src\rng.c;Src\rtc.c;Src\spi.c;Src\tim.c;Src\usart.c;Src\usb_device.c;Src\usbd_conf.c;Src\usbd_desc.c;Src\usbd_cdc_if.c;Src\stm32f4xx_it.c;Src\stm32f4xx_hal_msp.c;Src\stm32f4xx_hal_timebase_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pcd_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_usb.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rcc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_flash_ramfunc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_gpio.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dma.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_pwr_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_cortex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_exti.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_adc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_adc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_can.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_crc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_dac_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_i2c_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rng.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_rtc_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_spi.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_tim_ex.c;Drivers\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\system_stm32f4xx.c;Src\system_stm32f4xx.c;;;Middlewares\Third_Party\FreeRTOS\Source\croutine.c;Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;Middlewares\Third_Party\FreeRTOS\Source\list.c;Middlewares\Third_Party\FreeRTOS\Source\queue.c;Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;Middlewares\Third_Party\FreeRTOS\Source\tasks.c;Middlewares\Third_Party\FreeRTOS\Source\timers.c;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F\port.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c; +HeaderPath=Drivers\STM32F4xx_HAL_Driver\Inc;Drivers\STM32F4xx_HAL_Driver\Inc\Legacy;Middlewares\Third_Party\FreeRTOS\Source\include;Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS;Middlewares\Third_Party\FreeRTOS\Source\portable\GCC\ARM_CM4F;Middlewares\ST\STM32_USB_Device_Library\Core\Inc;Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Inc;Drivers\CMSIS\Device\ST\STM32F4xx\Include;Drivers\CMSIS\Include;Middlewares\ST\ARM\DSP\Inc;Inc; +CDefines=USE_HAL_DRIVER;STM32F407xx;USE_HAL_DRIVER;USE_HAL_DRIVER; + diff --git a/Makefile b/Makefile index 920f1fc..fd72d0f 100644 --- a/Makefile +++ b/Makefile @@ -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 diff --git a/Src/freertos.c b/Src/freertos.c index ad89d1e..cfed21a 100644 --- 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; @@ -76,12 +76,11 @@ void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackTyp /* USER CODE END GET_IDLE_TASK_MEMORY */ /** - * @brief FreeRTOS initialization - * @param None - * @retval None - */ -void MX_FREERTOS_Init(void) -{ + * @brief FreeRTOS initialization + * @param None + * @retval None + */ +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 */ @@ -132,4 +132,4 @@ void StartDefaultTask(void const *argument) /* Private application code --------------------------------------------------*/ /* USER CODE BEGIN Application */ -/* USER CODE END Application */ \ No newline at end of file +/* USER CODE END Application */ diff --git a/application/robot.c b/application/robot.c index 3e0c5c8..3102179 100644 --- 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) diff --git a/application/robot_task.h b/application/robot_task.h index d0d0130..5a58025 100644 --- 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) { diff --git a/bsp/bsp_init.c b/bsp/bsp_init.c deleted file mode 100644 index d263baf..0000000 --- a/bsp/bsp_init.c +++ /dev/null @@ -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(); -} \ No newline at end of file diff --git a/bsp/bsp_init.h b/bsp/bsp_init.h index 72c3372..cad17e3 100644 --- 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 diff --git a/bsp/bsp_legacy_support/bsp_buzzer.c b/bsp/bsp_legacy_support/bsp_buzzer.c deleted file mode 100644 index e69de29..0000000 diff --git a/bsp/bsp_legacy_support/bsp_buzzer.h b/bsp/bsp_legacy_support/bsp_buzzer.h deleted file mode 100644 index e69de29..0000000 diff --git a/bsp/bsp_legacy_support/bsp_led.c b/bsp/bsp_legacy_support/bsp_led.c deleted file mode 100644 index 66628d0..0000000 --- a/bsp/bsp_legacy_support/bsp_led.c +++ /dev/null @@ -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); -} diff --git a/bsp/bsp_legacy_support/bsp_led.h b/bsp/bsp_legacy_support/bsp_led.h deleted file mode 100644 index 0766227..0000000 --- a/bsp/bsp_legacy_support/bsp_led.h +++ /dev/null @@ -1,9 +0,0 @@ -#ifndef BSP_LED_H -#define BSP_LED_H - -#include - -void LEDInit(); -extern void FlowRGBShow(uint32_t aRGB); - -#endif \ No newline at end of file diff --git a/bsp/bsp_legacy_support/bsp_temperature.c b/bsp/bsp_legacy_support/bsp_temperature.c deleted file mode 100644 index 45f0fd0..0000000 --- a/bsp/bsp_legacy_support/bsp_temperature.c +++ /dev/null @@ -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); -} diff --git a/bsp/bsp_legacy_support/bsp_temperature.h b/bsp/bsp_legacy_support/bsp_temperature.h deleted file mode 100644 index 34970b9..0000000 --- a/bsp/bsp_legacy_support/bsp_temperature.h +++ /dev/null @@ -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 diff --git a/bsp/bsp_legacy_support/legacy.md b/bsp/bsp_legacy_support/legacy.md deleted file mode 100644 index 42d8db1..0000000 --- a/bsp/bsp_legacy_support/legacy.md +++ /dev/null @@ -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. \ No newline at end of file diff --git a/modules/alarm/buzzer.c b/modules/alarm/buzzer.c index acfa5b8..02f80f1 100644 --- 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}; @@ -10,13 +11,13 @@ 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, - .dutyratio = 0, - .period = 0.001, + .htim = &htim4, + .channel = TIM_CHANNEL_3, + .dutyratio = 0, + .period = 0.001, }; buzzer = PWMRegister(&buzzer_config); } @@ -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); } @@ -63,35 +63,29 @@ void BuzzerTask() PWMSetDutyRatio(buzzer, buzz->loudness); switch (buzz->octave) { - case OCTAVE_1: - PWMSetPeriod(buzzer, (float)1/DoFreq); - break; - case OCTAVE_2: - PWMSetPeriod(buzzer, (float)1/ReFreq); - break; - case OCTAVE_3: - PWMSetPeriod(buzzer, (float)1/MiFreq); - break; - case OCTAVE_4: - PWMSetPeriod(buzzer, (float)1/FaFreq); - break; - case OCTAVE_5: - PWMSetPeriod(buzzer, (float)1/SoFreq); - break; - case OCTAVE_6: - PWMSetPeriod(buzzer, (float)1/LaFreq); - break; - case OCTAVE_7: - PWMSetPeriod(buzzer, (float)1/SiFreq); - break; + case OCTAVE_1: + PWMSetPeriod(buzzer, (float)1 / DoFreq); + break; + case OCTAVE_2: + PWMSetPeriod(buzzer, (float)1 / ReFreq); + break; + case OCTAVE_3: + PWMSetPeriod(buzzer, (float)1 / MiFreq); + break; + case OCTAVE_4: + PWMSetPeriod(buzzer, (float)1 / FaFreq); + break; + case OCTAVE_5: + PWMSetPeriod(buzzer, (float)1 / SoFreq); + break; + case OCTAVE_6: + PWMSetPeriod(buzzer, (float)1 / LaFreq); + break; + case OCTAVE_7: + PWMSetPeriod(buzzer, (float)1 / SiFreq); + break; } break; } - } - } - - - - diff --git a/modules/alarm/buzzer.h b/modules/alarm/buzzer.h index 0e24df5..e63054c 100644 --- 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); diff --git a/modules/imu/BMI088driver.c b/modules/imu/BMI088driver.c index ad3ec05..97a92bd 100644 --- a/modules/imu/BMI088driver.c +++ b/modules/imu/BMI088driver.c @@ -5,7 +5,7 @@ #include "bsp_log.h" #include -#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; diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index f2ca5b2..ec084b6 100644 --- 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; diff --git a/modules/led/led.c b/modules/led/led.c index 6140fc0..5b48f1e 100644 --- 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; } diff --git a/modules/led/led.md b/modules/led/led.md new file mode 100644 index 0000000..e5b1e17 --- /dev/null +++ b/modules/led/led.md @@ -0,0 +1,3 @@ +TO BE DONE + +请勿使用 \ No newline at end of file diff --git a/modules/led_task/led.md b/modules/led_task/led.md deleted file mode 100644 index 3beca70..0000000 --- a/modules/led_task/led.md +++ /dev/null @@ -1,8 +0,0 @@ -# led_task -

neozng1@hnu.edu.cn

- -> 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 diff --git a/modules/led_task/led_task.c b/modules/led_task/led_task.c deleted file mode 100644 index 02cffe8..0000000 --- a/modules/led_task/led_task.c +++ /dev/null @@ -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 -#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); - } - } -} diff --git a/modules/led_task/led_task.h b/modules/led_task/led_task.h deleted file mode 100644 index 6769ec8..0000000 --- a/modules/led_task/led_task.h +++ /dev/null @@ -1,7 +0,0 @@ - -#ifndef LED_TRIGGER_TASK_H -#define LED_TRIGGER_TASK_H - -void led_RGB_flow_task(); - -#endif diff --git a/必须做&禁止做.md b/必须做&禁止做.md index 40ffdff..06cc739 100644 --- 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！