From bec0ee4184602315e1f57aea2dd80bcc95c6f443 Mon Sep 17 00:00:00 2001
From: NeoZng <neozng1@hnu.edn.cn>
Date: Wed, 12 Jul 2023 20:34:13 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E8=87=AA=E5=8A=A8=E9=80=92?=
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---
 Makefile                 |   5 +-
 Makefile.upgrade         | 193 +++++++++++++++++++++++++++++++++++++++
 VSCode+Ozone使用方法.md  |   7 +-
 bsp/log/bsp_log.h        |   7 ++
 modules/BMI088/bmi088.md |   2 -
 5 files changed, 205 insertions(+), 9 deletions(-)
 create mode 100644 Makefile.upgrade

diff --git a/Makefile b/Makefile
index 97979fb..920f1fc 100644
--- a/Makefile
+++ b/Makefile
@@ -210,10 +210,7 @@ C_DEFS =  \
 -DUSE_HAL_DRIVER \
 -DSTM32F407xx \
 -DARM_MATH_CM4 \
--DARM_MATH_MATRIX_CHECK \
--DARM_MATH_ROUNDING \
--DARM_MATH_LOOPUNROLL \
--DISABLEFLOAT16
+-DDISABLE_LOG_SYSTEM 
 
 # AS includes
 AS_INCLUDES =  \
diff --git a/Makefile.upgrade b/Makefile.upgrade
new file mode 100644
index 0000000..e55cc4f
--- /dev/null
+++ b/Makefile.upgrade
@@ -0,0 +1,193 @@
+##########################################################################################################################
+# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 18:20:17 CST 2023] 
+##########################################################################################################################
+
+# ------------------------------------------------
+# Generic Makefile (based on gcc)
+#
+# ChangeLog :
+#	2017-02-10 - Several enhancements + project update mode
+#   2015-07-22 - first version
+# ------------------------------------------------
+
+
+######################################
+# target
+######################################
+TARGET = basic_framework
+
+
+######################################
+# building variables
+######################################
+# debug build?
+DEBUG = 1
+# optimization
+OPT = -Og
+
+
+#######################################
+# paths
+#######################################
+# Build path
+BUILD_DIR = build
+
+######################################
+# source
+######################################
+# 快速递归搜索当前目录下的.c文件,需在msys2环境下使用(Windows下),linux/macOS则可以直接使用
+# 如果一定要在powershell或cmd下使用,请自行修改查找子目录的命令find为对应值
+PROJ_DIR = Src \
+Inc \
+application \
+modules \
+bsp \
+Drivers \
+Middlewares
+ALL_DIRS := $(foreach dire, $(PROJ_DIR), $(shell find $(dire) -maxdepth 10 -type d))
+C_SOURCES := $(foreach dire, $(ALL_DIRS), $(wildcard $(dire)/*.c))
+
+# ASM sources
+ASM_SOURCES =  \
+startup_stm32f407xx.s \
+Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s 
+
+
+#######################################
+# binaries
+#######################################
+PREFIX = arm-none-eabi-
+# The gcc compiler bin path can be either defined in make command via GCC_PATH variable (> make GCC_PATH=xxx)
+# either it can be added to the PATH environment variable.
+ifdef GCC_PATH
+CC = $(GCC_PATH)/$(PREFIX)gcc
+AS = $(GCC_PATH)/$(PREFIX)gcc -x assembler-with-cpp
+CP = $(GCC_PATH)/$(PREFIX)objcopy
+SZ = $(GCC_PATH)/$(PREFIX)size
+else
+CC = $(PREFIX)gcc
+AS = $(PREFIX)gcc -x assembler-with-cpp
+CP = $(PREFIX)objcopy
+SZ = $(PREFIX)size
+endif
+HEX = $(CP) -O ihex
+BIN = $(CP) -O binary -S
+ 
+#######################################
+# CFLAGS
+#######################################
+# cpu
+CPU = -mcpu=cortex-m4
+
+# fpu
+FPU = -mfpu=fpv4-sp-d16
+
+# float-abi
+FLOAT-ABI = -mfloat-abi=hard
+
+# mcu
+MCU = $(CPU) -mthumb -mthumb-interwork $(FPU) $(FLOAT-ABI)
+
+# macros for gcc
+# AS defines
+AS_DEFS = 
+
+# C defines
+C_DEFS =  \
+-DUSE_HAL_DRIVER \
+-DSTM32F407xx \
+-DARM_MATH_CM4 \
+-DDISABLE_LOG_SYSTEM # 关闭日志系统
+
+# AS includes
+AS_INCLUDES =  \
+-IInc
+
+# C includes
+# 快速递归添加包含目录
+C_INCLUDES := $(addprefix -I,$(ALL_DIRS))
+
+
+# compile gcc flags
+ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -fdata-sections -ffunction-sections
+
+CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections -fmessage-length=0
+
+ifeq ($(DEBUG), 1)
+CFLAGS += -g -gdwarf-2
+endif
+
+
+# Generate dependency information
+CFLAGS += -MMD -MP -MF"$(@:%.o=%.d)"
+
+
+#######################################
+# LDFLAGS
+#######################################
+# link script
+LDSCRIPT = STM32F407IGHx_FLASH.ld
+
+# libraries
+LIBS = -lc -lm -lnosys  \
+-l:libCMSISDSP.a  # 若想要自行编译CMSIS-DSP库,请参考https://github.com/ARM-software/CMSIS-DSP
+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
+
+# default action: build all
+all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET).bin
+
+
+#######################################
+# build the application
+#######################################
+# list of objects
+OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
+vpath %.c $(sort $(dir $(C_SOURCES)))
+# list of ASM program objects
+OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
+vpath %.s $(sort $(dir $(ASM_SOURCES)))
+
+$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR) 
+	@$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
+
+$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
+	@$(AS) -c $(CFLAGS) $< -o $@
+
+$(BUILD_DIR)/$(TARGET).elf: $(OBJECTS) Makefile
+	@$(CC) $(OBJECTS) $(LDFLAGS) -o $@
+	$(SZ) $@
+
+$(BUILD_DIR)/%.hex: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(HEX) $< $@
+	
+$(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
+	$(BIN) $< $@	
+	
+$(BUILD_DIR):
+	@mkdir $@		
+
+
+#######################################
+# clean up
+#######################################
+clean:
+	rd $(BUILD_DIR) /s/q
+
+
+#######################################
+# dependencies
+#######################################
+-include $(wildcard $(BUILD_DIR)/*.d)
+
+
+#######################################
+# download directl without debugging
+#######################################
+download_dap:
+	openocd -f openocd_dap.cfg -c init -c halt -c "flash write_image erase $(BUILD_DIR)/$(TARGET).bin 0x08000000" -c reset -c shutdown
+download_jlink:
+	JFlash -openprj'stm32.jflash' -open'$(BUILD_DIR)/$(TARGET).hex',0x8000000 -auto -startapp -exit
+
+# *** EOF ***
\ No newline at end of file
diff --git a/VSCode+Ozone使用方法.md b/VSCode+Ozone使用方法.md
index f443fd6..5adb94d 100644
--- a/VSCode+Ozone使用方法.md
+++ b/VSCode+Ozone使用方法.md
@@ -383,6 +383,9 @@ Makefile的大部分内容在CubeMX初始化的时候就会帮你生成。如果
 
 > 和KEIL新增文件的方式很相似，但是更方便。
 
+
+- **另外**，如果你使用的时linux/Unix like/MacOS，则可以直接使用根目录下的Makefile.upgrade（复制替换到Makefile中），我们在其中定义了递归添加源文件和头文件目录的规则，不再需要手动添加新增的源文件和头文件路径。如果你使用windows+mingw/Msys2，则需要在mingw环境下执行编译指令，否则报错（因为makefile中使用了一些shell指令是cmd和powershell不支持的，后续考虑在makefile中添加os判断规则以自动替换目录查找指令）
+
 ### 简单的调试配置
 
 > 在VSCode中调试不能像Keil一样查看变量动态变化，但是支持以外的所有操作，如查看外设和反汇编代码，设置断点触发方式等。
@@ -785,9 +788,7 @@ AS_DEFS = # 汇编的一些宏定义
 C_DEFS =  \  # C语言的宏定义
 -DUSE_HAL_DRIVER \ # 使用HAL库.HAL库的许多头文件和源文件里会判断是否定义了这个宏
 -DSTM32F407xx \    # HAL库会根据使用的MCU的不同进行条件编译,这是一个很好的封装技术
--DARM_MATH_CM4 \   # 启用ARM MATH运算库,我们在卡尔曼滤波和最小二乘法的时候会用到矩阵运算
--DARM_MATH_MATRIX_CHECK \ # 启用矩阵乘法库
--DARM_MATH_ROUNDING       # 对数学库的输出结果进行取整防止溢出?
+-DARM_MATH_CM4     # 启用ARM MATH运算库,我们在卡尔曼滤波和最小二乘法的时候会用到矩阵运算
 
 # AS includes
 AS_INCLUDES = -IHAL_N_Middlewares/Inc
diff --git a/bsp/log/bsp_log.h b/bsp/log/bsp_log.h
index 002be77..8f66681 100644
--- a/bsp/log/bsp_log.h
+++ b/bsp/log/bsp_log.h
@@ -35,13 +35,20 @@ void BSPLogInit();
 /**
  *  有颜色格式日志输出,建议使用这些宏来输出日志
  *  @attention 注意这些接口不支持浮点格式化输出,若有需要,请使用Float2Str()函数进行转换后再打印
+ *  @note 在release版本上车使用时,与makefile中添加的宏DISABLE_LOG_SYSTEM一起使用,可以关闭日志系统
  */
+#if DISABLE_LOG_SYSTEM
+#define LOGINFO(format, ...) __unused
+#define LOGWARNING(format, ...) __unused
+#define LOGERROR(format, ...) __unused
+#else
 // information level
 #define LOGINFO(format, ...) LOG_PROTO("I:", RTT_CTRL_TEXT_BRIGHT_GREEN, format, ##__VA_ARGS__)
 // warning level
 #define LOGWARNING(format, ...) LOG_PROTO("W:", RTT_CTRL_TEXT_BRIGHT_YELLOW, format, ##__VA_ARGS__)
 // error level
 #define LOGERROR(format, ...) LOG_PROTO("E:", RTT_CTRL_TEXT_BRIGHT_RED, format, ##__VA_ARGS__)
+#endif //  DISABLE_LOG_SYSTEM
 
 /**
  * @brief 通过segger RTT打印日志,支持格式化输出,格式化输出的实现参考printf.
diff --git a/modules/BMI088/bmi088.md b/modules/BMI088/bmi088.md
index 88a42a2..7dbd80f 100644
--- a/modules/BMI088/bmi088.md
+++ b/modules/BMI088/bmi088.md
@@ -1,7 +1,5 @@
 # BMI088
 
-**注意,此模块待测试**
-
 ## 示例
 
 ```c