diff --git a/.vscode/launch.json b/.vscode/launch.json index 311c392..b7cdb08 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -3,27 +3,29 @@ "configurations": [ // 使用dap-link(如无线调试器时的参考配置) { - "name": "Debug-dap", + "name": "Debug-DAP", "cwd": "${workspaceRoot}", - "executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件 + "executable": "${workspaceRoot}\\build\\${workspaceFolderBasename}.elf", // 要下载到调试器的文件,花括号中的是vscode两个预定义的参数 "request": "launch", "type": "cortex-debug", - "device": "STM32F407IG", //使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件）。支持的设备见 https://www.segger.com/downloads/supported-devices.php - "svdFile": ".\\STM32F407.svd", //svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd - // 该项目的根目录已经提供了C型开发板使用的外设svd文件 + //使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件） + //支持的设备见 https://www.segger.com/downloads/supported-devices.php + "device": "STM32F407IG", + //svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd + //该项目的根目录已经提供了C型开发板使用的外设svd文件 + "svdFile": "STM32F407.svd", "servertype": "openocd", //使用的GDB Server "configFiles": [ - ".\\openocd.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件 + "openocd_dap.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件 ], - // path to your gcc-arm-none-eabi/arm-none-eabi-gdb.exe,如果在cortex-debug的设置中写入了全局路径,这里不需要再写 - // "gdbPath": "D:\\gcc-arm-none-eabi\\bin\\arm-none-eabi-gdb.exe", - //"preLaunchTask": "build task",//先运行Build任务,取消注释即可使用 + "runToEntryPoint": "main" // 调试时在main函数入口停下 + //"preLaunchTask": "build task",//先运行Build任务编译项目,取消注释即可使用 }, - // 使用j-link时的参考配置 + // 使用j-link进行调试时的参考配置 { - "name": "Debug-jlink", + "name": "Debug-Jlink", "cwd": "${workspaceFolder}", - "executable": "${workspaceRoot}\\build\\basic_framework.elf", + "executable": "${workspaceRoot}\\build\\${workspaceFolderBasename}.elf", "request": "launch", "type": "cortex-debug", "device": "STM32F407IG", @@ -31,8 +33,8 @@ "showDevDebugOutput": "none", "servertype": "jlink", "interface": "swd", - "svdFile": ".\\STM32F407.svd", + "svdFile": "STM32F407.svd", // "preLaunchTask": "build task",//先运行Build任务,取消注释即可使用 }, - ] + ], } \ No newline at end of file diff --git a/.vscode/tasks.json b/.vscode/tasks.json index d69111e..40486f9 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -5,12 +5,30 @@ { "label": "build task", // 任务标签 "type": "shell", // 任务类型,因为要调用mingw32-make,是在终端(CMD)里运行的,所以是shell任务 - "command": "mingw32-make -j24",// 任务命令 + "command": "mingw32-make -j24",// 任务命令,线程数可以根据自己的电脑修改,建议为核数的4~8倍 "problemMatcher": [], "group": { "kind": "build", "isDefault": true } - } + }, + { + "label": "download dap", + "type": "shell", + "command":"make download_dap", + "group": { + "kind": "build", + "isDefault": false, + }, + }, + { + "label": "download jlink", + "type": "shell", + "command":"make download_jlink", + "group": { + "kind": "build", + "isDefault": false, + } + }, ] } \ No newline at end of file diff --git a/HAL_N_Middlewares/Src/main.c b/HAL_N_Middlewares/Src/main.c index ee91d2d..35646a1 100644 --- a/HAL_N_Middlewares/Src/main.c +++ b/HAL_N_Middlewares/Src/main.c @@ -42,6 +42,8 @@ #include "ins_task.h" #include "can_comm.h" #include "master_process.h" +#include "led_task.h" +#include "bsp_led.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ @@ -127,6 +129,7 @@ int main(void) /* USER CODE BEGIN 2 */ RC_init(&huart3); DWT_Init(168); + Motor_Init_Config_s config = { .motor_type = GM6020, .can_init_config = { @@ -146,6 +149,7 @@ int main(void) RefereeInit(&huart6); Vision_Recv_s* recv=VisionInit(&huart1); Vision_Send_s send={.pitch=1,.roll=2,.yaw=3}; + LED_init(); /* USER CODE END 2 */ /* Call init function for freertos objects (in freertos.c) */ @@ -164,11 +168,12 @@ int main(void) /* USER CODE END WHILE */ DJIMotorSetRef(djimotor, 10); MotorControlTask(); - HAL_Delay(10); + HAL_Delay(1); CANCommSend(in, (uint8_t*)&tx); tx+=1; rx=(sdf*)CANCommGet(in); VisionSend(&send); + led_RGB_flow_task(); // INS_Task(); /* USER CODE BEGIN 3 */ } diff --git a/Makefile b/Makefile index 1417df1..f17a255 100644 --- a/Makefile +++ b/Makefile @@ -292,8 +292,19 @@ $(BUILD_DIR): # clean up ####################################### clean: - -rm -r -Force $(BUILD_DIR) - + rmdir /q $(BUILD_DIR) + +####################################### +# download without debugging +####################################### +OPENOCD_FLASH_START = 0x08000000 # 如果切换芯片可能需要修改此值 + +download_dap: + openocd -f openocd_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex $(OPENOCD_FLASH_START)" -c reset -c shutdown + +download_jlink: + openocd -f openocd_jlink.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).hex $(OPENOCD_FLASH_START)" -c reset -c shutdown + ####################################### # dependencies ####################################### diff --git a/modules/led_light/led_task.c b/modules/led_light/led_task.c index 6f6ea1a..a7d1388 100644 --- a/modules/led_light/led_task.c +++ b/modules/led_light/led_task.c @@ -37,41 +37,37 @@ uint32_t RGB_flow_color[RGB_FLOW_COLOR_LENGHT + 1] = {0xFF0000FF, 0x0000FF00, 0x */ void led_RGB_flow_task() { - uint16_t i, j; - float delta_alpha, delta_red, delta_green, delta_blue; - float alpha, red, green, blue; - uint32_t aRGB; + uint16_t i, j; + float delta_alpha, delta_red, delta_green, delta_blue; + float alpha, red, green, blue; + uint32_t aRGB; - while (1) - { + for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++) + { + alpha = (RGB_flow_color[i] & 0xFF000000) >> 24; + red = ((RGB_flow_color[i] & 0x00FF0000) >> 16); + green = ((RGB_flow_color[i] & 0x0000FF00) >> 8); + blue = ((RGB_flow_color[i] & 0x000000FF) >> 0); - for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++) - { - 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 = (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 (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++) + { + alpha += delta_alpha; + red += delta_red; + green += delta_green; + blue += delta_blue; - delta_alpha /= RGB_FLOW_COLOR_CHANGE_TIME; - delta_red /= RGB_FLOW_COLOR_CHANGE_TIME; - delta_green /= RGB_FLOW_COLOR_CHANGE_TIME; - delta_blue /= RGB_FLOW_COLOR_CHANGE_TIME; - for (j = 0; j < RGB_FLOW_COLOR_CHANGE_TIME; j++) - { - alpha += delta_alpha; - red += delta_red; - green += delta_green; - blue += delta_blue; - - aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0; - aRGB_led_show(aRGB); - osDelay(1); - } - } - } + aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0; + aRGB_led_show(aRGB); + } + } + HAL_Delay(1); } diff --git a/modules/master_machine/seasky_protocol.c b/modules/master_machine/seasky_protocol.c index 6fd6282..17af114 100644 --- a/modules/master_machine/seasky_protocol.c +++ b/modules/master_machine/seasky_protocol.c @@ -5,9 +5,9 @@ * @brief 湖南大学RoBoMatster串口通信协议 * @version 0.1 * @date 2022-11-03 - * + * * @copyright Copyright (c) 2022 - * + * */ #include "seasky_protocol.h" @@ -38,7 +38,7 @@ static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) } /*检验数据帧头*/ -static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf) +static uint8_t protocol_heade_Check(protocol_rm_struct *pro, uint8_t *rx_buf) { if (rx_buf[0] == PROTOCOL_CMD_ID) { @@ -58,12 +58,12 @@ static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf) 此函数根据待发送的数据更新数据帧格式以及内容，实现数据的打包操作 后续调用通信接口的发送函数发送tx_buf中的对应数据 */ -void get_protocol_send_data(uint16_t send_id, //信号id +void get_protocol_send_data(uint16_t send_id, // 信号id uint16_t flags_register, // 16位寄存器 - float *tx_data, //待发送的float数据 + float *tx_data, // 待发送的float数据 uint8_t float_length, // float的数据长度 - uint8_t *tx_buf, //待发送的数据帧 - uint16_t *tx_buf_len) //待发送的数据帧长度 + uint8_t *tx_buf, // 待发送的数据帧 + uint16_t *tx_buf_len) // 待发送的数据帧长度 { static uint16_t crc16; static uint16_t data_len; @@ -71,9 +71,9 @@ void get_protocol_send_data(uint16_t send_id, //信号id data_len = float_length * 4 + 2; /*帧头部分*/ tx_buf[0] = PROTOCOL_CMD_ID; - tx_buf[1] = data_len & 0xff; //低位在前 - tx_buf[2] = (data_len >> 8) & 0xff; //低位在前 - tx_buf[3] = Get_CRC8_Check(&tx_buf[0], 3); //获取CRC8校验位 + tx_buf[1] = data_len & 0xff; // 低位在前 + tx_buf[2] = (data_len >> 8) & 0xff; // 低位在前 + tx_buf[3] = crc_8(&tx_buf[0], 3); // 获取CRC8校验位 /*数据的信号id*/ tx_buf[4] = send_id & 0xff; @@ -90,7 +90,7 @@ void get_protocol_send_data(uint16_t send_id, //信号id } /*整包校验*/ - crc16 = Get_CRC16_Check(&tx_buf[0], data_len + 6); + crc16 = crc_16(&tx_buf[0], data_len + 6); tx_buf[data_len + 6] = crc16 & 0xff; tx_buf[data_len + 7] = (crc16 >> 8) & 0xff; @@ -100,21 +100,21 @@ void get_protocol_send_data(uint16_t send_id, //信号id 此函数用于处理接收数据， 返回数据内容的id */ -uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据 - uint16_t *flags_register, //接收数据的16位寄存器地址 - uint8_t *rx_data) //接收的float数据存储地址 +uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据 + uint16_t *flags_register, // 接收数据的16位寄存器地址 + uint8_t *rx_data) // 接收的float数据存储地址 { static protocol_rm_struct pro; static uint16_t date_length; - volatile size_t s=sizeof(pro); - volatile size_t aa=sizeof(Vision_Recv_s); + volatile size_t s = sizeof(pro); + volatile size_t aa = sizeof(Vision_Recv_s); if (protocol_heade_Check(&pro, rx_buf)) { date_length = OFFSET_BYTE + pro.header.data_length; if (CRC16_Check_Sum(&rx_buf[0], date_length)) { *flags_register = (rx_buf[7] << 8) | rx_buf[6]; - memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2)); + memcpy(rx_data, rx_buf + 8, 4 * sizeof(pro.header.data_length - 2)); return pro.cmd_id; } } diff --git a/openocd.cfg b/openocd_dap.cfg similarity index 100% rename from openocd.cfg rename to openocd_dap.cfg diff --git a/openocd_jlink.cfg b/openocd_jlink.cfg new file mode 100644 index 0000000..310a8ba --- /dev/null +++ b/openocd_jlink.cfg @@ -0,0 +1,13 @@ +# 选择调试器为jlink + +source [find interface/jlink.cfg] +# source [find interface/jlink.cfg] #使用jlink硬件进行调试,注意其他地方也要更改 +# OpenOCD作为GDB和硬件调试器的桥梁(为硬件提供抽象,把接口给GDB),支持多种硬件调试器. +# OpenOCD会自动在其根目录的share/openocd/scripts/interface里面寻找对应的配置文件 + +# 选择接口为SWD +transport select swd + +# 选择目标芯片 +source [find target/stm32f4x.cfg] +# OpenOCD会自动在其根目录的share/openocd/scripts/target里面寻找对应的配置文件 \ No newline at end of file