TuxMonkey/bf_original_balance_chassis
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重新组织文件结构，方便修改cubemx进行移植或新增/减少功能

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This commit is contained in:
NeoZng
2023-04-13 11:33:31 +08:00
parent 6523bbd6a9
commit 1bc2ff411c
490 changed files with 19643 additions and 139630 deletions
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232
Makefile
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@@ -1,9 +1,20 @@
##########################################################################################################################
# File automatically-generated by tool: [projectgenerator] version: [3.18.0-B7] date: [Thu Apr 13 11:28:19 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
SHELL = cmd.exe
######################################
@@ -12,8 +23,7 @@ SHELL = cmd.exe
# debug build?
DEBUG = 1
# optimization
OPT = -O0 # O0避免没有使用到的变量被优化,如果没有特殊的调试需求请修改成-Og.
# 为了更高的性能,正式上车不需要调试时修改成-O3/-Ofast
OPT = -Og
#######################################
@@ -27,75 +37,76 @@ BUILD_DIR = build
######################################
# C sources
C_SOURCES = \
HAL_N_Middlewares/Src/main.c \
HAL_N_Middlewares/Src/gpio.c \
HAL_N_Middlewares/Src/freertos.c \
HAL_N_Middlewares/Src/adc.c \
HAL_N_Middlewares/Src/can.c \
HAL_N_Middlewares/Src/crc.c \
HAL_N_Middlewares/Src/dac.c \
HAL_N_Middlewares/Src/dma.c \
HAL_N_Middlewares/Src/i2c.c \
HAL_N_Middlewares/Src/rng.c \
HAL_N_Middlewares/Src/rtc.c \
HAL_N_Middlewares/Src/spi.c \
HAL_N_Middlewares/Src/tim.c \
HAL_N_Middlewares/Src/usart.c \
HAL_N_Middlewares/Src/usb_device.c \
HAL_N_Middlewares/Src/usbd_conf.c \
HAL_N_Middlewares/Src/usbd_desc.c \
HAL_N_Middlewares/Src/usbd_cdc_if.c \
HAL_N_Middlewares/Src/stm32f4xx_it.c \
HAL_N_Middlewares/Src/stm32f4xx_hal_msp.c \
HAL_N_Middlewares/Src/stm32f4xx_hal_timebase_tim.c \
HAL_N_Middlewares/Src/system_stm32f4xx.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dac.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rtc_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c \
HAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c \
HAL_N_Middlewares/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c \
HAL_N_Middlewares/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c \
HAL_N_Middlewares/Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c \
HAL_N_Middlewares/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/croutine.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/list.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/queue.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c \
HAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/tasks.c \
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 \
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 \
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 \
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 \
@@ -147,19 +158,18 @@ application/shoot/shoot.c \
application/referee/referee.c \
application/cmd/robot_cmd.c \
application/balance_chassis/balance.c \
application/robot.c
application/robot.c
# ASM sources
ASM_SOURCES += \
ASM_SOURCES = \
startup_stm32f407xx.s \
HAL_N_Middlewares/Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s
#######################################
# binaries
#######################################
PREFIX = arm-none-eabi-
# PREFIX = ccache arm-none-eabi- 可以通过安装ccache来缓存makefile内容加速编译
# 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
@@ -201,28 +211,27 @@ C_DEFS = \
-DSTM32F407xx \
-DARM_MATH_CM4 \
-DARM_MATH_MATRIX_CHECK \
-DARM_MATH_ROUNDING
-DARM_MATH_ROUNDING
# AS includes
AS_INCLUDES = -IHAL_N_Middlewares/Inc
AS_INCLUDES = \
-IInc
# C includes
C_INCLUDES = \
-IHAL_N_Middlewares/Inc \
-IHAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Inc \
-IHAL_N_Middlewares/Drivers/STM32F4xx_HAL_Driver/Inc/Legacy \
-IHAL_N_Middlewares/Drivers/CMSIS/Device/ST/STM32F4xx/Include \
-IHAL_N_Middlewares/Drivers/CMSIS/Include \
-IHAL_N_Middlewares/Drivers/CMSIS/DSP/Include \
-IHAL_N_Middlewares/Middlewares/ST/STM32_USB_Device_Library/Core/Inc \
-IHAL_N_Middlewares/Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc \
-IHAL_N_Middlewares/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS \
-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 \
-IInc \
-IDrivers/STM32F4xx_HAL_Driver/Inc \
-IDrivers/STM32F4xx_HAL_Driver/Inc/Legacy \
-IMiddlewares/Third_Party/FreeRTOS/Source/include \
-IMiddlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS \
-IMiddlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F \
-IMiddlewares/ST/STM32_USB_Device_Library/Core/Inc \
-IMiddlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc \
-IDrivers/CMSIS/Device/ST/STM32F4xx/Include \
-IDrivers/CMSIS/Include \
-IMiddlewares/ST/ARM/DSP/Inc \
-IMiddlewares/Third_Party/SEGGER/RTT \
-IMiddlewares/Third_Party/SEGGER/Config \
-Iapplication/chassis \
-Iapplication/shoot \
-Iapplication/gimbal \
@@ -262,12 +271,13 @@ C_INCLUDES = \
-Imodules/message_center \
-Imodules/daemon \
-Imodules/vofa \
-Imodules
-Imodules
# compile gcc flags
ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
ASFLAGS = $(MCU) $(AS_DEFS) $(AS_INCLUDES) $(OPT) -fdata-sections -ffunction-sections
CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections
ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
@@ -286,9 +296,9 @@ LDSCRIPT = STM32F407IGHx_FLASH.ld
# libraries
LIBS = -lc -lm -lnosys \
-larm_cortexM4lf_math
-l:libarm_cortexM4lf_math.a
LIBDIR = \
-LHAL_N_Middlewares/Drivers/CMSIS/Lib/GCC
-LMiddlewares/ST/ARM/DSP/Lib
LDFLAGS = $(MCU) -specs=nano.specs -T$(LDSCRIPT) $(LIBDIR) $(LIBS) -Wl,-Map=$(BUILD_DIR)/$(TARGET).map,--cref -Wl,--gc-sections
# default action: build all
@@ -305,8 +315,6 @@ vpath %.c $(sort $(dir $(C_SOURCES)))
OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
vpath %.s $(sort $(dir $(ASM_SOURCES)))
# 以下是编译命令,命令之前被粉色高亮的@就是静默输出的指令.删除前面的@会将输出显示到命令行.
# 如@$(CC) -c $(CFLAGS) ...... 去掉第一个@即可.
$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
@$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
@@ -324,28 +332,28 @@ $(BUILD_DIR)/%.bin: $(BUILD_DIR)/%.elf | $(BUILD_DIR)
$(BIN) $< $@
$(BUILD_DIR):
@mkdir $@
@mkdir $@
#######################################
# clean up
#######################################
clean:
rd /s/q $(BUILD_DIR)
# linux: rm -rf $(BUILD_DIR)
#######################################
# download directl 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).bin $(OPENOCD_FLASH_START)" -c reset -c shutdown
download_jlink:
JFlash -openprj'stm32.jflash' -open'$(BUILD_DIR)/$(TARGET).hex',0x8000000 -auto -startapp -exit
#######################################
# 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 ***