增加了一键下载(不调试)的支持,并更新了makefile,添加了make clean支持
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NeoZeng
parent
a539072052
commit
6dd2f9c504
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@ -3,27 +3,29 @@
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"configurations": [
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// 使用dap-link(如无线调试器时的参考配置)
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{
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"name": "Debug-dap",
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"name": "Debug-DAP",
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"cwd": "${workspaceRoot}",
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"executable": "${workspaceRoot}\\build\\basic_framework.elf", // 要下载到调试器的文件
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"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
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"request": "launch",
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"type": "cortex-debug",
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"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
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"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
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// 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
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//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）
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//支持的设备见 https://www.segger.com/downloads/supported-devices.php
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"device": "STM32F407IG",
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//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
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//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
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"svdFile": "STM32F407.svd",
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"servertype": "openocd", //使用的GDB Server
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"configFiles": [
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".\\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
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"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
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],
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// 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
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// "gdbPath": "D:\\gcc-arm-none-eabi\\bin\\arm-none-eabi-gdb.exe",
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//"preLaunchTask": "build task",//先运行Build任务,取消注释即可使用
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"runToEntryPoint": "main" // 调试时在main函数入口停下
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//"preLaunchTask": "build task",//先运行Build任务编译项目,取消注释即可使用
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},
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// 使用j-link时的参考配置
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// 使用j-link进行调试时的参考配置
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{
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"name": "Debug-jlink",
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"name": "Debug-Jlink",
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"cwd": "${workspaceFolder}",
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"executable": "${workspaceRoot}\\build\\basic_framework.elf",
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"executable": "${workspaceRoot}\\build\\${workspaceFolderBasename}.elf",
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"request": "launch",
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"type": "cortex-debug",
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"device": "STM32F407IG",
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@ -31,8 +33,8 @@
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"showDevDebugOutput": "none",
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"servertype": "jlink",
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"interface": "swd",
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"svdFile": ".\\STM32F407.svd",
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"svdFile": "STM32F407.svd",
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// "preLaunchTask": "build task",//先运行Build任务,取消注释即可使用
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},
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]
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],
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}
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@ -5,12 +5,30 @@
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{
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"label": "build task", // 任务标签
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"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
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"command": "mingw32-make -j24",// 任务命令
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"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
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"problemMatcher": [],
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"group": {
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"kind": "build",
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"isDefault": true
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}
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},
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{
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"label": "download dap",
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"type": "shell",
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"command":"make download_dap",
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"group": {
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"kind": "build",
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"isDefault": false,
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},
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},
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{
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"label": "download jlink",
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"type": "shell",
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"command":"make download_jlink",
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"group": {
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"kind": "build",
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"isDefault": false,
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}
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},
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]
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}
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@ -42,6 +42,8 @@
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#include "ins_task.h"
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#include "can_comm.h"
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#include "master_process.h"
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#include "led_task.h"
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#include "bsp_led.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -127,6 +129,7 @@ int main(void)
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/* USER CODE BEGIN 2 */
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RC_init(&huart3);
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DWT_Init(168);
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Motor_Init_Config_s config = {
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.motor_type = GM6020,
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.can_init_config = {
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@ -146,6 +149,7 @@ int main(void)
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RefereeInit(&huart6);
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Vision_Recv_s* recv=VisionInit(&huart1);
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Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
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LED_init();
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/* USER CODE END 2 */
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/* Call init function for freertos objects (in freertos.c) */
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@ -164,11 +168,12 @@ int main(void)
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/* USER CODE END WHILE */
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DJIMotorSetRef(djimotor, 10);
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MotorControlTask();
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HAL_Delay(10);
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HAL_Delay(1);
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CANCommSend(in, (uint8_t*)&tx);
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tx+=1;
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rx=(sdf*)CANCommGet(in);
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VisionSend(&send);
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led_RGB_flow_task();
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// INS_Task();
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/* USER CODE BEGIN 3 */
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}
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13
Makefile
13
Makefile
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@ -292,7 +292,18 @@ $(BUILD_DIR):
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# clean up
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#######################################
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clean:
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-rm -r -Force $(BUILD_DIR)
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rmdir /q $(BUILD_DIR)
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#######################################
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# download without debugging
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#######################################
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OPENOCD_FLASH_START = 0x08000000 # 如果切换芯片可能需要修改此值
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download_dap:
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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
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download_jlink:
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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
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#######################################
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# dependencies
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@ -42,9 +42,6 @@ void led_RGB_flow_task()
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float alpha, red, green, blue;
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uint32_t aRGB;
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while (1)
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{
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for (i = 0; i < RGB_FLOW_COLOR_LENGHT; i++)
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{
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alpha = (RGB_flow_color[i] & 0xFF000000) >> 24;
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@ -70,8 +67,7 @@ void led_RGB_flow_task()
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aRGB = ((uint32_t)(alpha)) << 24 | ((uint32_t)(red)) << 16 | ((uint32_t)(green)) << 8 | ((uint32_t)(blue)) << 0;
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aRGB_led_show(aRGB);
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osDelay(1);
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}
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}
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}
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HAL_Delay(1);
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}
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@ -38,7 +38,7 @@ static uint16_t CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength)
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}
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/*检验数据帧头*/
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static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
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static uint8_t protocol_heade_Check(protocol_rm_struct *pro, uint8_t *rx_buf)
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{
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if (rx_buf[0] == PROTOCOL_CMD_ID)
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{
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@ -58,12 +58,12 @@ static uint8_t protocol_heade_Check(protocol_rm_struct *pro,uint8_t *rx_buf)
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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
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后续调用通信接口的发送函数发送tx_buf中的对应数据
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*/
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void get_protocol_send_data(uint16_t send_id, //信号id
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void get_protocol_send_data(uint16_t send_id, // 信号id
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uint16_t flags_register, // 16位寄存器
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float *tx_data, //待发送的float数据
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float *tx_data, // 待发送的float数据
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uint8_t float_length, // float的数据长度
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uint8_t *tx_buf, //待发送的数据帧
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uint16_t *tx_buf_len) //待发送的数据帧长度
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uint8_t *tx_buf, // 待发送的数据帧
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uint16_t *tx_buf_len) // 待发送的数据帧长度
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{
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static uint16_t crc16;
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static uint16_t data_len;
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@ -71,9 +71,9 @@ void get_protocol_send_data(uint16_t send_id, //信号id
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data_len = float_length * 4 + 2;
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/*帧头部分*/
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tx_buf[0] = PROTOCOL_CMD_ID;
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tx_buf[1] = data_len & 0xff; //低位在前
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tx_buf[2] = (data_len >> 8) & 0xff; //低位在前
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tx_buf[3] = Get_CRC8_Check(&tx_buf[0], 3); //获取CRC8校验位
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tx_buf[1] = data_len & 0xff; // 低位在前
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tx_buf[2] = (data_len >> 8) & 0xff; // 低位在前
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tx_buf[3] = crc_8(&tx_buf[0], 3); // 获取CRC8校验位
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/*数据的信号id*/
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tx_buf[4] = send_id & 0xff;
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@ -90,7 +90,7 @@ void get_protocol_send_data(uint16_t send_id, //信号id
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}
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/*整包校验*/
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crc16 = Get_CRC16_Check(&tx_buf[0], data_len + 6);
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crc16 = crc_16(&tx_buf[0], data_len + 6);
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tx_buf[data_len + 6] = crc16 & 0xff;
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tx_buf[data_len + 7] = (crc16 >> 8) & 0xff;
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@ -100,21 +100,21 @@ void get_protocol_send_data(uint16_t send_id, //信号id
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此函数用于处理接收数据，
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返回数据内容的id
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*/
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uint16_t get_protocol_info(uint8_t *rx_buf, //接收到的原始数据
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uint16_t *flags_register, //接收数据的16位寄存器地址
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uint8_t *rx_data) //接收的float数据存储地址
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uint16_t get_protocol_info(uint8_t *rx_buf, // 接收到的原始数据
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uint16_t *flags_register, // 接收数据的16位寄存器地址
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uint8_t *rx_data) // 接收的float数据存储地址
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{
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static protocol_rm_struct pro;
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static uint16_t date_length;
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volatile size_t s=sizeof(pro);
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volatile size_t aa=sizeof(Vision_Recv_s);
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volatile size_t s = sizeof(pro);
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volatile size_t aa = sizeof(Vision_Recv_s);
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if (protocol_heade_Check(&pro, rx_buf))
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{
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date_length = OFFSET_BYTE + pro.header.data_length;
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if (CRC16_Check_Sum(&rx_buf[0], date_length))
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{
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*flags_register = (rx_buf[7] << 8) | rx_buf[6];
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memcpy(rx_data,rx_buf+8,4*sizeof(pro.header.data_length - 2));
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memcpy(rx_data, rx_buf + 8, 4 * sizeof(pro.header.data_length - 2));
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return pro.cmd_id;
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}
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}
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@ -0,0 +1,13 @@
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# 选择调试器为jlink
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source [find interface/jlink.cfg]
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# source [find interface/jlink.cfg] #使用jlink硬件进行调试,注意其他地方也要更改
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# 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.
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# 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
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# 选择接口为SWD
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transport select swd
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# 选择目标芯片
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source [find target/stm32f4x.cfg]
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# 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
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