TuxMonkey/bf_original_balance_chassis
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Merge branch 'master' of https://gitee.com/hnuyuelurm/basic_framework

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NeoZng
2023-06-27 22:28:48 +08:00
parent 968a53648d 9ef46e2f88
commit 2404edd4eb
49 changed files with 827 additions and 383 deletions
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16
Makefile
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@@ -119,6 +119,7 @@ bsp/can/bsp_can.c \
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 \
@@ -152,6 +153,7 @@ modules/can_comm/can_comm.c \
modules/message_center/message_center.c \
modules/daemon/daemon.c \
modules/vofa/vofa.c \
modules/alarm/buzzer.c \
application/gimbal/gimbal.c \
application/chassis/chassis.c \
application/shoot/shoot.c \
@@ -197,7 +199,7 @@ FPU = -mfpu=fpv4-sp-d16
FLOAT-ABI = -mfloat-abi=hard
# mcu
MCU = $(CPU) -mthumb $(FPU) $(FLOAT-ABI)
MCU = $(CPU) -mthumb -mthumb-interwork $(FPU) $(FLOAT-ABI)
# macros for gcc
# AS defines
@@ -209,7 +211,9 @@ C_DEFS = \
-DSTM32F407xx \
-DARM_MATH_CM4 \
-DARM_MATH_MATRIX_CHECK \
-DARM_MATH_ROUNDING
-DARM_MATH_ROUNDING \
-DARM_MATH_LOOPUNROLL \
-DISABLEFLOAT16
# AS includes
AS_INCLUDES = \
@@ -244,6 +248,7 @@ C_INCLUDES = \
-Ibsp/spi \
-Ibsp/iic \
-Ibsp/log \
-Ibsp/flash \
-Ibsp/pwm \
-Ibsp/bsp_legacy_support \
-Ibsp \
@@ -268,13 +273,14 @@ C_INCLUDES = \
-Imodules/message_center \
-Imodules/daemon \
-Imodules/vofa \
-Imodules/alarm \
-Imodules
# 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
CFLAGS += $(MCU) $(C_DEFS) $(C_INCLUDES) $(OPT) -fdata-sections -ffunction-sections -fmessage-length=0
ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
@@ -296,7 +302,7 @@ 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
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
@@ -336,7 +342,7 @@ $(BUILD_DIR):
# clean up
#######################################
clean:
rd /s/q $(BUILD_DIR)
rd $(BUILD_DIR) /s/q
#######################################