Merge remote-tracking branch 'origin/dev-stool' into dev-stool

.vscode/c_cpp_properties.json

@@ -15,6 +15,71 @@
       "cppStandard": "gnu++14",
       "intelliSenseMode": "windows-gcc-x86",
       "configurationProvider": "ms-vscode.makefile-tools"
+    },
+    {
+      "name": "STM32",
+      "includePath": [
+        "Drivers/CMSIS/Device/ST/STM32F4xx/Include",
+        "Drivers/CMSIS/Include",
+        "Drivers/STM32F4xx_HAL_Driver/Inc",
+        "Drivers/STM32F4xx_HAL_Driver/Inc/Legacy",
+        "Inc",
+        "Middlewares/ST/ARM/DSP/Inc",
+        "Middlewares/ST/ARM/DSP/Include",
+        "Middlewares/ST/ARM/DSP/Include/dsp",
+        "Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc",
+        "Middlewares/ST/STM32_USB_Device_Library/Core/Inc",
+        "Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS",
+        "Middlewares/Third_Party/FreeRTOS/Source/include",
+        "Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F",
+        "Middlewares/Third_Party/SEGGER/Config",
+        "Middlewares/Third_Party/SEGGER/RTT",
+        "application",
+        "application/chassis",
+        "application/cmd",
+        "application/gimbal",
+        "application/shoot",
+        "bsp",
+        "bsp/can",
+        "bsp/dwt",
+        "bsp/flash",
+        "bsp/gpio",
+        "bsp/iic",
+        "bsp/log",
+        "bsp/pwm",
+        "bsp/spi",
+        "bsp/usart",
+        "bsp/usb",
+        "modules",
+        "modules/BMI088",
+        "modules/alarm",
+        "modules/algorithm",
+        "modules/bluetooth",
+        "modules/can_comm",
+        "modules/daemon",
+        "modules/imu",
+        "modules/ist8310",
+        "modules/master_machine",
+        "modules/message_center",
+        "modules/motor",
+        "modules/motor/DJImotor",
+        "modules/motor/DMmotor",
+        "modules/motor/HTmotor",
+        "modules/motor/LKmotor",
+        "modules/motor/servo_motor",
+        "modules/motor/step_motor",
+        "modules/oled",
+        "modules/referee",
+        "modules/remote",
+        "modules/super_cap"
+      ],
+      "defines": [
+        "ARM_MATH_CM4",
+        "STM32F407xx",
+        "USE_HAL_DRIVER",
+        "__FPU_PRESENT=1U"
+      ],
+      "compilerPath": "c:\\Users\\ASUS\\AppData\\Roaming\\Code - Insiders\\User\\globalStorage\\bmd.stm32-for-vscode\\@xpack-dev-tools\\arm-none-eabi-gcc\\13.2.1-1.1.1\\.content\\bin\\arm-none-eabi-gcc.EXE"
     }
   ],
   "version": 4

.vscode/launch.json

@@ -2,34 +2,26 @@
     // 启动调试的快捷键是F5
     "version": "0.2.0",
     "configurations": [
-        // 使用dap-link(如无线调试器时的参考配置)
         {
             "name": "DAPlink",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}\\build\\basic_framework.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
+            "executable": "${workspaceRoot}\\build\\basic_framework.elf",
             "request": "launch",
             "type": "cortex-debug",
-            //使用J-link GDB Server时必须;其他GBD Server时可选（有可能帮助自动选择SVD文件）
-            //支持的设备见 https://www.segger.com/downloads/supported-devices.php
             "device": "STM32F407IG",
-            //svd文件，有这个文件才能查看寄存器的值，每个单片机都不同。可以在以下地址找到 https://github.com/posborne/cmsis-svd
-            //该项目的根目录已经提供了C型开发板使用的外设svd文件
             "svdFile": "STM32F407.svd",
-            "servertype": "openocd", //使用的GDB Server
+            "servertype": "openocd",
             "configFiles": [
-                "openocd_dap.cfg", // 配置文件已经在根目录提供,若要修改以此类推,openocd的路径下的share/scripts中有各种写好的配置文件
+                "openocd_dap.cfg"
             ],
-            "runToEntryPoint": "main", // 调试时在main函数入口停下
+            "runToEntryPoint": "main",
             "rtos": "FreeRTOS",
-            "preLaunchTask": "build task",//先运行Build任务编译项目,取消注释即可使用
+            "preLaunchTask": "build task",
             "liveWatch": {
                 "enabled": true,
                 "samplesPerSecond": 4
             }
-            // dap若要使用log,请使用Jlink调试任务启动,之后再打开log任务
-            // 若想要在调试前编译并且打开log,可只使用log的prelaunch task并为log任务添加depends on依赖
         },
-        // 使用j-link进行调试时的参考配置
         {
             "name": "Jlink",
             "cwd": "${workspaceFolder}",
@@ -43,26 +35,23 @@
             "interface": "swd",
             "svdFile": "STM32F407.svd",
             "rtos": "FreeRTOS",
-            //"preLaunchTask": "build task",//先运行Build任务,取消注释即可使用
             "liveWatch": {
                 "enabled": true,
                 "samplesPerSecond": 4
-            },
-            // "preLaunchTask": "log", // 调试时同时开启RTT viewer窗口,若daplink使用jlinkGDBserver启动,需要先开始调试再打开log
-            // 若想要在调试前编译并且打开log,可只使用log的prelaunch task并为log任务添加depends on依赖
+            }
         },
         {
             "name": "DAP-attach",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}\\build\\basic_framework.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
+            "executable": "${workspaceRoot}\\build\\basic_framework.elf",
             "request": "attach",
             "type": "cortex-debug",
             "device": "STM32F407IG",
             "svdFile": "STM32F407.svd",
             "servertype": "openocd",
             "configFiles": [
-                "openocd_dap.cfg",
-            ],
+                "openocd_dap.cfg"
+            ]
         },
         {
             "name": "Jlink-attach",
@@ -75,7 +64,35 @@
             "servertype": "jlink",
             "interface": "swd",
             "svdFile": "STM32F407.svd",
-            "rtos": "FreeRTOS",
+            "rtos": "FreeRTOS"
         },
+        {
+            "showDevDebugOutput": "parsed",
+            "cwd": "${workspaceRoot}",
+            "executable": "./build/debug/basic_framework.elf",
+            "name": "Debug STM32",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "preLaunchTask": "Build STM",
+            "device": "stm32f407",
+            "configFiles": [
+                "openocd.cfg"
+            ]
+        },
+        {
+            "showDevDebugOutput": "parsed",
+            "cwd": "${workspaceRoot}",
+            "executable": "./build/debug/basic_framework.elf",
+            "name": "Attach STM32",
+            "request": "attach",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "preLaunchTask": "Build STM",
+            "device": "stm32f407",
+            "configFiles": [
+                "openocd.cfg"
+            ]
+        }
     ],
 }

.vscode/settings.json

@@ -14,5 +14,7 @@
         "bsp_usart.h": "c",
         "memory.h": "c"
     },
-    "C_Cpp.errorSquiggles": "disabled"
+    "C_Cpp.errorSquiggles": "disabled",
+    "cortex-debug.armToolchainPath": "c:\\Users\\ASUS\\AppData\\Roaming\\Code - Insiders\\User\\globalStorage\\bmd.stm32-for-vscode\\@xpack-dev-tools\\arm-none-eabi-gcc\\13.2.1-1.1.1\\.content\\bin",
+    "cortex-debug.openocdPath": "C:\\USERS\\ASUS\\APPDATA\\ROAMING\\CODE - INSIDERS\\USER\\GLOBALSTORAGE\\BMD.STM32-FOR-VSCODE\\@XPACK-DEV-TOOLS\\OPENOCD\\0.12.0-3.1\\.CONTENT\\BIN\\OPENOCD.EXE"
 }

.vscode/tasks.json

@@ -3,9 +3,9 @@
     "version": "2.0.0",
     "tasks": [
         {
-            "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,线程数可以根据自己的电脑修改,建议与cpu核数相同
+            "label": "build task",
+            "type": "shell",
+            "command": "mingw32-make -j24",
             "problemMatcher": [],
             "group": {
                 "kind": "build",
@@ -14,32 +14,76 @@
         },
         {
             "label": "download dap",
-            "type": "shell",               // 如果希望在下载前编译,可以把command换成下面的命令
-            "command":"mingw32-make -j24 ; mingw32-make download_dap", // "mingw32-make -j24 ; mingw32-make download_dap",
-            "group": {                     // 如果没有修改代码,编译任务不会消耗时间,因此推荐使用上面的替换.
-                "kind": "build",
-                "isDefault": false,
-            },
-        },
-        {
-            "label": "download jlink", // 要使用此任务,需添加jlink的环境变量
             "type": "shell",
-            "command":" download_jlink", // "mingw32-make -j24 ; mingw32-make download_jlink"
+            "command": "mingw32-make -j24 ; mingw32-make download_dap",
             "group": {
                 "kind": "build",
-                "isDefault": false,
+                "isDefault": false
+            }
+        },
+        {
+            "label": "download jlink",
+            "type": "shell",
+            "command": " download_jlink",
+            "group": {
+                "kind": "build",
+                "isDefault": false
             }
         },
         {
             "label": "log",
             "type": "shell",
-            "command":"JlinkRTTClient",
+            "command": "JlinkRTTClient",
             "args": [],
             "problemMatcher": [],
-            "dependsOn":[
-                "build task", // 可以添加多个.
+            "dependsOn": [
+                "build task"
+            ]
+        },
+        {
+            "label": "Build STM",
+            "type": "process",
+            "command": "${command:stm32-for-vscode.build}",
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ]
+        },
+        {
+            "label": "Build Clean STM",
+            "type": "process",
+            "command": "${command:stm32-for-vscode.cleanBuild}",
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
+            ]
+        },
+        {
+            "label": "Flash STM",
+            "type": "process",
+            "command": "${command:stm32-for-vscode.flash}",
+            "options": {
+                "cwd": "${workspaceRoot}"
+            },
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "problemMatcher": [
+                "$gcc"
             ]
-            // 若使用daplink,则将log任务设置为依赖于jlink launch任务,保证jlink launch任务先于log任务执行
         }
     ]
 }

application/chassis/lqr_calc.h

@@ -9,18 +9,18 @@
  */
 static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
 {
-    static float k[12][3] = {152.073959,-322.787113,4.602472,
-    -18.091924,-50.039341,3.160226,
-    124.677598,-113.871572,-13.279757,
-    86.314525,-98.184173,-8.140564,
-    162.907111,-185.705008,74.114015,
-    14.280240,-18.420891,8.593112,
-    -148.548074,99.259778,48.506697,
-    -37.972970,41.871624,3.715364,
-    192.255883,-224.641960,95.484838,
-    93.227296,-117.550338,60.336158,
-    -343.472953,311.036102,57.349362,
-    -41.609057,38.668058,-0.809331,};
+    static float k[12][3] = {91.443258,-113.149301,-8.780431,
+    2.186397,-6.908826,-0.171192,
+    47.943203,-39.423913,-13.297140,
+    30.671413,-28.308799,-9.363969,
+    231.778706,-224.742110,68.974495,
+    18.910995,-20.079072,7.490403,
+    50.114072,-58.670210,23.856863,
+    3.273746,-3.321150,1.267603,
+    140.969395,-137.481822,42.507159,
+    93.859327,-90.754295,27.811839,
+    -283.581279,232.017305,87.865897,
+    -28.193619,23.802666,3.963794,};
     float T[2] = {0};       // 0 T_wheel  1 T_hip
     float l = p->leg_len;
     float lsqr = l * l;